CN201656584U - Three-phase brushless permanent-magnet direct-current motor with big-tooth and small-tooth structure - Google Patents

Abstract

The utility model relates to a three-phase brushless permanent-magnet direct-current motor with a big-tooth and small-tooth structure, wherein the number of magnetic poles on a rotor iron core is 2P and the number of grooves of a stator iron-core is Z; Z teeth of a stator comprise Z/2 big teeth and Z/2 small teeth; a yoke part between each two adjacent big teeth is provided with a wedged groove; and each small-toothed iron core is wedged into one wedged groove through the tail part of the each small-toothed iron core to form a small tooth. In a preferable scheme, each big tooth takes up 150-234 electrical degrees of a circumferential electrical angle, the addition of each small tooth and the groove openings at two sides takes up 90-6 electrical degrees of a circumferential electrical angle, and the sum of the electrical degrees of one big tooth and the electrical degrees of one small tooth equals to 240 electrical degrees; three phases of windings are respectively wound on the Z/2 big teeth, and each phase of winding comprises Z/6 concentrated windings; and when in assembly, firstly, each winding is wound on each big tooth, then small teeth are embedded. The three-phase brushless permanent-magnet direct-current motor has the advantages of very convenient winding of the concentrated windings, and the like, can be served as a servomotor or a torque motor.

Description

The three-phase brushless permanent magnet DC motor of size toothing

Technical field

The utility model relates to the major diameter magneto, more particularly, relates to a kind of three-phase brushless permanent magnet DC motor of big or small toothing.This motor can be used as servomotor, torque motor.

Background technology

Permanent magnet motor can be divided into sinusoidal wave and square wave two big classes according to drive current and counter potential waveform.Generally the sine wave permanent magnet motor is called permanent magnet synchronous motor (PMSM), or is called the sine wave AC servomotor.Another kind of square wave permanent magnetic motor then is called square wave brushless DC motor (BLDCM).

Magneto is that the reversible motor that both can be used as also can be used as generator.Square Wave Permanent Magnet Generator exert oneself than the big pi/2 of sine wave permanent magnet generator promptly 1.57 times.

During the eighties, the square wave permanent magnetic motor has obtained widespread usage, the external characteristic of square wave permanent magnetic motor and have the brush DC motor basic identical, control fairly simple, but its maximum shortcoming is to have bigger principle commutation torque fluctuations, to this, the researcher has proposed multiple indemnifying measure, but practical application effect is undesirable.

Because the torque fluctuations of sine wave permanent magnet motor is then much smaller than the square wave permanent magnetic motor, during the nineties, drive the application scenario at elaborate servo, the square wave permanent magnetic motor is substituted by the sine wave permanent magnet motor gradually, has become the main flow of commercial Application now at present.Yet the sine wave permanent magnet motor can cause the control system complexity significantly to increase with cost significantly to be increased, and the more important thing is that the energy index of motor declines to a great extent.

On the other hand, traditional square wave brushless DC motor and control technology thereof are generally acknowledged ripe, because aforementioned disadvantages causes it to be limited at less demanding applications, both at home and abroad to its research seldom.

The desired electrical motivation should have that volume is little, moment is big and torque fluctuations is little, efficient is high and characteristics such as cost is low.But in the real world, often can only take into account and to satisfy this theory comprehensively.When designing the high-performance servomotor usually, priority is motion control performance, power, size, efficient and price.Servomotor must overcome slot effect, has little location torque, torque fluctuations or velocity perturbation, can be under low speed, big moment smooth drive continuously.

The reason of the torque fluctuations that produces is a lot.It is generally acknowledged that main cause is: the location torque that slot effect produces, the non-sine of air-gap field distributes and the three-phase current non-sine.The direct generation of slot effect and tooth, the location torque fluctuation that the groove number is relevant; The non-sine of air-gap field distributes and produces back-emf (MMF) harmonic wave and current harmonics generation harmonic wave moment; Therefore, the torque fluctuations of servomotor is made of: each location torque and HARMONIC FORCE square.Its main harmonic number and the number of teeth, groove number, number of poles and multiplier, times multiplier, beat number are relevant mutually.

The big utmost point motor that the utility model relates to is named again concentrates winding electric machine, and it has, and winding overhang is little, copper loss is little, simple in structure, characteristics such as production cost is low, and development is very fast in nearly ten years.Usually to be less than or equal to 1/2 motor be big pole motor or concentrated winding electric machine to the every extremely every phase groove of the definition value of counting q=S/ (2Pm), and wherein S is the groove number, and m is the number of phases, and P is a number of pole-pairs.Be one the 8 big pole three-phase permanent magnetic brushless motor of the utmost point 9 grooves as shown in Figure 1.4 N utmost points, 4 S interpolars are wherein arranged every arrangement, totally 8 utmost points; Correspondence is provided with 9 grooves, be equipped with in each groove adjacent two windings each half.For example the N utmost point of topmost is over against a tooth, and its left side is that A+ winding, right side are the A-windings.Wherein, the slot pitch electrical degree is:

After the anti-phase wiring be 20 °, breadth coefficient is:

${\mathrm{<figure-callout\; id="1"\; label="K\; d"\; filenames="H2009202047666E00023.png"\; state="\{\{state\}\}">K</figure-callout>}}_d=\frac{\sin \left(\frac{3\&times;20}{2}\right)}{3\sin \frac{20}{2}}=0.960$

Pitch percent is:

${\mathrm{<figure-callout\; id="1"\; label="K\; p"\; filenames="H2009202047666E00023.png"\; state="\{\{state\}\}">K</figure-callout>}}_p=\sin (\frac{8}{9}\&times;90)=0.985$

Winding coefficient:

k _w1＝k _d1k _p1＝0.946

Main location torque number of times:

K _C=the utmost point * groove/C=8 * 9/1=72

In the above-mentioned formula, C is the minimum common divisor of the utmost point, groove number.This number of times Kc is 8/72=1/9 with the ratio of number of poles, and promptly the number of times of location torque is 9 times of first-harmonic.It is generally acknowledged that the amplitude of each location torque and the numerical value of number of times are inversely proportional to, or think that the amplitude of each location torque is not more than 1/9 of every phase first-harmonic moment.Therefore the design principle that cooperates of teeth groove is: require the number of times of low order location torque big as far as possible with respect to the number of times of first-harmonic moment.Teeth groove cooperates the stock utilization that also can influence motor, and promptly winding coefficient requires winding coefficient near 1.

The winding coefficient and the location torque number of times of several " big utmost point motors "

	8 utmost points, 9 grooves	10 utmost points, 9 grooves	14 utmost points, 15 grooves	16 utmost points, 15 grooves	20 utmost points, 21 grooves	22 utmost points, 21 grooves
							Winding coefficient	0.945	0.945	0.957	0.957	0.953	0.953
Main location torque number of times	72	90	210	240	420	462
							Multiple with respect to first-harmonic moment	9	9	15	15	21	21

In the patent application of publication number CN101030721A, the teeth groove coordinated scheme (for example: 21 grooves, 26 utmost points, 33 grooves, 38 utmost points or 40 utmost points) that the utmost point, groove numerical value do not have common divisor is disclosed.The publication number CN1856921A patent application of the applicant Kollmorgen Corp ratio that discloses groove and magnetic pole is greater than 0.75 and less than 1.0 permanent magnet motor (for example: 36 grooves, 46 utmost points, 30 grooves, 38 utmost points) in addition.This class permanent magnet motor is a target to obtain sinusoidal pattern air-gap field and less location torque, unfortunately it is very limited that this class is only utilized the method effect of teeth groove cooperation, the location torque that its slot effect produces is still bigger, generally can only reach (5～1) % level of rated moment.

Above-mentioned " big utmost point motor " obtains to use in different occasions.Yet cooperate the effect that reduces location torque still can not satisfy the requirement of servomotor by teeth groove merely.So produced the method that further reduces location torque in a large number by the homogenizing air-gap reluctance again, having comprised: 1) coreless permanent magnet motor; 2) no teeth groove magneto; 3) the oblique utmost point of skewed stator slot or p-m rotor; 4) reduce stator rabbet; 5) permanent magnet surfaces top rake, sinusoidalization, non-uniform gap, permanent magnet short distance etc. cause the air-gap field sineization; 6) teeth groove of stator is not equally spaced; 7) stator adopts every extremely every phase fraction groove; 8) increase every utmost point groove number; 9) add air gaps; 10) reduce magnetic loading.

Said method all has its pros and cons, for example: add air gaps, reduce magnetic loading, adopt coreless permanent magnet motor and do not have the method for teeth groove magneto, cause motor electromagnetic load and power density decline, and cause the air-gap field sineization; Adopt the skewed stator slot or the oblique utmost point of p-m rotor or stator to adopt every extremely every phase fraction groove method, production cost is improved, stock utilization descends, and causes the air-gap field sineization.Reducing stator rabbet makes the leakage field increase cause loss to become big.Adopt permanent magnet surfaces top rake, sinusoidalization, non-uniform gap, permanent magnet short distance etc. to cause the air-gap field sineization.Usually the purpose that adopts the teeth groove of stator not to be equally spaced also is to make the air-gap field sineization, and said method offset of sinusoidal ripple servomotor is traditional effective ways.But traditional method all is not suitable for the square wave servomotor.

Among the patent ZL 200720070700.3, disclose a kind of low-fluctuation permanent magnetic brushless motor of not wide structure, wherein, the groove width that the facewidth of stator tooth is greater than or less than the facewidth of adjacent teeth or described stator slot is greater than or less than the groove width of adjacent slot; Perhaps the magnet pole widths of described rotor core is greater than or less than the width of adjacent pole or the spacing between described rotor core magnetic pole and is greater than or less than spacing between adjacent pole.Adopt the design of different big or small tooth (not wide tooth) stator core in general, may the number of times and the amplitude of location torque be exerted an influence, it is improper to design, and will cause bigger location torque on the contrary.The also additional not wide method of rotor core magnetic pole of this patent, its cost are that to have produced winding back emf asymmetric.The tooth inner surface of the also additional stator core of this patent be the method for off-centre, and its cost also is that to have produced winding back emf asymmetric.Winding back emf is asymmetric to be critical defect for servomotor, and the target of this patent is the lower small-power speed governing drive motors of performance.

The utility model content

The utility model will solve existing square wave permanent magnetic motor and the existing problem of sine wave permanent magnet motor, proposes a kind of new principle, new construction, high-performance, big utmost point square wave permanent magnetic motor cheaply.

The technical solution of the utility model is, a kind of three-phase brushless permanent magnet DC motor of big or small toothing is provided, be equipped with many on the rotor core of described motor to permanent magnet, three phase windings are housed in the groove of stator, wherein, the groove on the stator core is counted between the number of magnetic poles 2P on Z, the rotor core the corresponding relation shown in the following table, corresponding to Z stator slot, Z tooth should be arranged mutually, comprising Z/2 canine tooth, a Z/2 little tooth:

Groove is counted Z	42	48	54	60
					Number of magnetic poles 2P	28	32	36	40

Described three phase windings comprise Z/2 concentrated winding, respectively on Z/2 canine tooth, every have Z/6 concentrated winding mutually, the ordering of described concentrated winding and tooth is: A concentrates on winding → little tooth → canine tooth B to concentrate mutually that C concentrates winding → little tooth mutually on winding → little tooth → canine tooth mutually on the canine tooth, and the rest may be inferred; Wherein, comprise canine tooth iron core and Z/2 independently little tooth iron core in the described stator core, yoke portion between every adjacent two canine tooths is provided with one and is inserted into groove, total Z/2 is inserted into groove, each described little tooth iron core be inserted at described canine tooth iron core by its afterbody one of them be inserted in the groove, and then form Z/2 little tooth.

In the preferred version of the present utility model, the width of rebate of the groove on the described stator core between adjacent canine tooth and the little tooth is 0.1～3.0mm; Each canine tooth accounts for 150 °～234 ° of circumference electrical degrees, and each little tooth adds that its both sides notch accounts for 90 °～6 ° of circumference electrical degrees, and the electrical degree sum of a canine tooth and a little tooth equals 240 °.For further reducing location torque, preferred scheme is, each canine tooth accounts for 195 °～205 ° of circumference electrical degrees, and each little tooth adds that its both sides notch accounts for 45 °～35 ° of circumference electrical degrees.

In another preferred version of the present utility model, the width of rebate of the groove on the described stator core between adjacent canine tooth and the little tooth is 0.1～3.0mm; When Z/2 was even number, Z/4 was first canine tooth that accounts for 224 ° ± 2 ° of circumference electrical degrees in the described canine tooth, and Z/4 is second canine tooth that accounts for 192 ° ± 2 ° of circumference electrical degrees in addition; Each little tooth adds that its both sides notch accounts for 32 ° ± 2 ° of circumference electrical degrees; Ordering between described each tooth is: first canine tooth → little tooth → second canine tooth → little tooth, and the rest may be inferred; And it is 480 ° that adjacent one group of first canine tooth, little tooth, second canine tooth, little tooth account for circumference electrical degree sum.

In the utility model, described canine tooth iron core can be the whole canine tooth iron core of integral type; Perhaps form, splice mutually in the stator slot centerline of these two canine tooths between adjacent two monomer canine tooth iron cores by the monomer canine tooth iron core of Z/2 same structure.

In the utility model, on the described rotor core each permanent magnet N, S magnetic pole alternately, described permanent magnet is the tile-shaped magnet steel of radial magnetizing or the tile-shaped magnet steel of parallel magnetization, described tile-shaped magnet steel is for waiting radius tile-shaped magnet steel or top rake tile-shaped magnet steel; Physics air gap between described stator and the rotor is 0.2～3mm; The pole span of the permanent magnet on the described rotor core is (1～0.8) * π D/4, and wherein D is a rotor diameter; Wherein also comprise the rotor-position sensor of being made by hall position sensor, the magnetosensitive sense direction of described hall position sensor is consistent with the rotor normal direction, be installed on the stator support, and and the rotor permanent magnet cylindrical between keep the air gap of 1～3mm.

In the utility model, draw again after Z/6 the concentrated winding that belongs to same phase can being connected successively by circumferential order, form one group of A-A ', B-B ', C-C ' three phase windings.At the motor of the even numbers as a result of Z/6, also can draw after the series connection successively again with Z/6 concentrated winding belonging to same phase in twos and be unified into Z/12 unit in parallel earlier, form one group of A-A ', B-B ', C-C ' three phase windings.Also Z/6 the concentrated winding that belongs to same phase can be drawn separately respectively, form Z/6 group A-A ', B-B ', C-C ' three phase windings.

By such scheme as can be known, the little tooth in the utility model is a damascene structures, does not adorn earlier little tooth, and slot milling makes concentrates the coiling of winding very convenient, even the machine automatic winding also can guarantee the copper factor more than 85%.During as motor, it exerts oneself bigger by 33% than traditional sine wave permanent magnet servomotor, and winding overhang is littler more than 3 times than traditional sine wave permanent magnet servomotor, so copper loss reduces significantly.When this motor adopts the three-phase square wave current drives, can produce moment stably, its torque fluctuations index is suitable with the sine wave permanent magnet servomotor.

Description of drawings

The utility model is described in further detail below in conjunction with drawings and Examples, in the accompanying drawing:

Fig. 1 is the stator and rotor cross-sectional view of 8 utmost points, 9 groove motors of the prior art;

Fig. 2 A is the stator and rotor deployed configuration schematic diagram of motor in preferred embodiment of the utility model;

Fig. 2 B is the stator and rotor deployed configuration schematic diagram of motor when first, second two kinds of canine tooths are arranged among another embodiment of the utility model

Fig. 3 is a motor general assembly structural representation in preferred embodiment of the utility model;

Fig. 4 A is stator tooth, the angle of the v-groove distribution schematic diagram in Fig. 2 A illustrated embodiment;

Fig. 4 B is stator tooth, the angle of the v-groove distribution schematic diagram in Fig. 2 B illustrated embodiment;

Fig. 5 A is the display structure schematic diagram of the whole canine tooth iron core of integral type;

Fig. 5 B is the structural representation of little tooth iron core;

Fig. 5 C is the whole canine tooth iron core of integral type and the fit structure schematic diagram of a plurality of little tooth iron cores;

Fig. 6 is the structural representation by another embodiment sectional type stator core;

Fig. 7 is with 10 concentrated windings schematic diagram of connecting successively more in parallel in twos earlier among embodiment of the utility model.

Embodiment

Fig. 3 shows total assembling structure of motor in preferred embodiment of the utility model, and the critical piece of this motor comprises rotating shaft 30, rotor 1, stator 2 etc., and the physics air gap 5 between rotor 1 and the stator 2 is 0.2～3mm.Wherein adopt hall position sensor as rotor-position sensor, the magnetosensitive sense direction of hall position sensor is consistent with the rotor normal direction, be installed on the stator support 20, and and rotor magnetic steel (being permanent magnet) cylindrical between keep the air gap of 1～3mm.

In the utility model, the groove on the stator core is counted between the number of magnetic poles 2P on Z, the rotor core the corresponding relation shown in the following table, and wherein, the groove number is 42 o'clock, and number of magnetic poles is 48; The groove number is 48 o'clock, and number of magnetic poles is 32; The groove number is 54 o'clock, and number of magnetic poles is 36; The groove number is 60 o'clock, and number of magnetic poles is 40; Corresponding to Z stator slot, Z tooth should be arranged mutually, comprising Z/2 canine tooth, a Z/2 little tooth:

Groove is counted Z	42	48	54	60
					Number of magnetic poles 2P	28	32	36	40

In below describing, be example with Z=60, this moment, number of magnetic poles was 2P=40, stator core external diameter 320～500mm.For the fit structure between the parts such as tooth, groove, magnetic pole, if be drawn as with corresponding circular ring structure in kind and can't know demonstration, so be drawn as expansion structure shown in Figure 2 here, has launched respectively stator 2 inner rings, rotor 1 outer ring that promptly are equivalent to circular ring structure.Wherein, 20 pairs of 40 permanent magnets are housed on rotor core, i.e. 40 magnetic poles, they by N, S shown in Figure 2 alternately, to produce air-gap field.During concrete enforcement, permanent magnet can be the tile-shaped magnet steel of radial magnetizing or the tile-shaped magnet steel of parallel magnetization.The pole span of the permanent magnet on the rotor core is (1～0.8) * π D/4, and wherein D is a rotor diameter.

Simultaneously, the groove of stator core is counted Z=60, to 60 grooves, 60 teeth should be arranged; Shown in Fig. 5 C, the width of the notch of stator slot 4 (being the gap between adjacent canine tooth and the little tooth bottom) is 0.1～3mm; Comprise 30 canine tooths, 30 little teeth in 60 teeth, and the order circulation by canine tooth → little tooth → canine tooth → little tooth is arranged in circumference.

In the present embodiment, three phase windings comprise (Z/2=60/2)=30 a concentrated winding, use respectively on the direct canine tooth after insulation processing of coil winding machine (stator is concentrated the winding coil winding machine), concentrate the ordering of winding and tooth to be: A concentrates on winding → little tooth → canine tooth B to concentrate mutually that C concentrates winding → little tooth mutually on winding → little tooth → canine tooth mutually on the canine tooth, and the rest may be inferred; As seen, this motor has 30 concentrated windings, and every in A, B, the C three-phase have (Z/6=60/6)=10 a concentrated winding mutually.

As can be seen from Figure 4A, each canine tooth accounts for 150 °～234 ° of circumference electrical degrees, and each little tooth adds that its both sides notch accounts for 90 °～6 ° of circumference electrical degrees, and the electrical degree sum of a canine tooth and a little tooth equals 240 °.For further reducing location torque, each canine tooth preferably accounts for 195 °～205 ° of circumference electrical degrees, and each little tooth adds that its both sides notch preferably accounts for 45 °～35 ° of circumference electrical degrees.

As can be seen from Figure 4B, among another embodiment, when Z/2 was even number, Z/4 was first canine tooth that accounts for 224 ° ± 2 ° of circumference electrical degrees in the canine tooth, and Z/4 is second canine tooth that accounts for 192 ° ± 2 ° of circumference electrical degrees in addition; Each little tooth adds that its both sides notch accounts for 32 ° ± 2 ° of circumference electrical degrees; Ordering between each tooth is: first canine tooth → little tooth → second canine tooth → little tooth → first canine tooth → little tooth → second canine tooth → little tooth, and the rest may be inferred; And it is 480 ° that adjacent one group of first canine tooth, little tooth, second canine tooth, little tooth account for circumference electrical degree sum.

Shown in Fig. 5 A, Fig. 5 B, Fig. 5 C, stator core wherein comprises whole canine tooth iron core 9 and 30 little tooth iron cores 8 of an integral type; Be provided with 30 canine tooths 6 on the canine tooth iron core, the yoke portion between adjacent two canine tooths respectively is provided with one and is inserted into groove 11, has 30 and is inserted into groove; Each little tooth iron core 8 be inserted at canine tooth iron core 9 by its afterbody one of them be inserted in the groove 11.

During concrete enforcement, canine tooth iron core 9 is made up of multilayer canine tooth silicon steel sheet, and the yoke portion of each layer canine tooth silicon steel sheet and tooth portion are provided with location blind hole 12, and multilayer canine tooth silicon steel sheet becomes overall structure by these blind hole rivetings.Equally, each little tooth iron core 8 is made up of the little tooth silicon steel sheet of multilayer; Also be provided with location blind hole 12 on the little tooth silicon steel sheet 10 of each layer, the little tooth silicon steel sheet of multilayer becomes overall structure by these blind hole rivetings.In the present embodiment, canine tooth iron core 9 has the identical silicon steel sheet number of plies with each little tooth iron core 8.

As can be seen from Figure 5A, the groove 11 that is inserted into wherein is the swallowtail-shaped structure that inside is big, oral area is little; Correspondingly, the afterbody of each little tooth iron core 8 also is a swallowtail-shaped structure among Fig. 5 B, can be just in time be inserted into groove 11 interlocks.

During concrete the assembling, whole canine tooth iron core at this integral type, after making the canine tooth iron core, earlier canine tooth being done insulation handles, concentrate winding with coil winding machine coiling on 30 canine tooths again, 30 that then 30 little tooth iron cores are embedded the canine tooth iron core respectively are inserted in the groove, promptly constitute every stator core that has 10 concentrated windings mutually.

In order to make coiling convenient, in the embodiment shown in fig. 6, the whole canine tooth iron core 9 that will have 30 canine tooths is that benchmark is cut into 30 parts with the stator slot center line between adjacent two canine tooths (being each center line that is inserted into groove), becomes 30 monomer canine tooth iron cores.During assembling, respectively these 30 monomer canine tooth iron cores being done insulation handles, again with coil winding machine respectively on 30 monomer canine tooth iron cores coiling concentrate winding, then with 30 coiling canine tooth iron core and 30 little tooth iron cores of concentrated winding, press the order of A phase monomer canine tooth iron core → little tooth iron core → B phase monomer canine tooth iron core → little tooth iron core → C phase monomer canine tooth iron core → little tooth iron core, assembling successively constitutes the stator core with 30 concentrated windings.

Wherein, the structure of 30 monomer canine tooth iron cores is identical, be convenient to processing, can choose 30 monomer canine tooth iron cores then wantonly and be buckled into a complete canine tooth iron core by the mode that boss, shrinkage pool are set, for example adopting notification number is buckle structure shown in Figure 6 in the patent of CN101371425A.

Finished after aforementioned coiling, the assembling, drawn again after 10 concentrated windings that belong to same phase can being connected successively by circumferential order, formed one group of A-A ', B-B ', C-C ' three phase windings.

As shown in Figure 7, also can be with 10 of belonging to same phase concentrated winding in twos and be unified into 5 unit in parallel earlier, draw after the series connection successively again, form one group of A-A ', B-B ', C-C ' three phase windings.It should be noted that when comprising first, second two kinds of canine tooths, should get two first canine tooths and concentrate winding parallel connection or two second canine tooths to concentrate the mode of winding parallel connection, thereby the back-emf that guarantees two concentrated windings in parallel in twos is identical.

In addition, also 10 concentrated windings that belong to same phase can be drawn separately respectively, form 10 groups of A-A ', B-B ', C-C ' three phase windings.

In the utility model, the electrical degree sum of a canine tooth and a little tooth equals 240 °, and adopts the magnetic pole soverlay technique of 150 °～234 ° of scopes of electrical degree, makes air-gap field have the above flat-top district of 120 ° of electrical degrees; Adopt the little tooth of non-homogeneous teeth groove and magnetic balance, little tooth electrical degree makes location torque reduce to minimum for 90 °～6 °.For this three-phase brushless permanent magnet DC motor, magnetic pole covers when reaching more than 120 °, the winding pitch coefficient k _P1=1.So winding coefficient k of this three-phase brushless permanent magnet DC motor _W1=k _D1* k _P1=1.The more important thing is, cause the armature reaction of motor to be the overall situation after magnetic pole covers and increase magnetic state, thereby significantly optimized the armature reaction of motor.

The controller of the utility model motor can adopt the sampling of square wave brushless motor continuous current and the closed-loop control of novel concept, and its combination property surmounts the sine wave AC servo system.This three-phase brushless permanent magnet DC motor can substitute existing sine wave AC servomotor and servo unit thereof, becomes the main branch of following servomotor and servo unit thereof.

The utility model has developed the big utmost point motor of asymmetric groove on the basis of big utmost point motor.The concentrated winding coefficient of the big utmost point motor of asymmetric groove is 1, and the utmost point/groove ratio is 2/3, and the number of teeth of big utmost point motor is the groove number, wherein on 1/2 the tooth concentrated winding is arranged, and 1/2 tooth is not for there being the little tooth of concentrating winding, and therefore every extremely every phase groove is counted q=Z/ (2P * M)=1/9.The winding coefficient of the big utmost point motor of asymmetric groove is big, concentrates winding quantity seldom, and copper loss significantly reduces, and the armature reaction of motor is greatly improved, and motor manufacturing technology is significantly simplified,

The iron core magnetic of the big utmost point motor of the utility model is close lower than conventional motors, and the iron core highest frequency should not be higher than 400Hz, therefore, and the maximum speed n of motor _Max=60f/P=24000/p.

Big utmost point motor of the present utility model can be applicable to industrial circle and civil area, mainly comprises:

High-precision numerical control machine, robot, high-acruracy survey equipment;

Large-scale difficult deformable metal extruder, vertical spinning machine, large-scale precision forging equipment;

Efficient, high accuracy outfit that manufacturing industry such as heavy type numerical control lathe (as five-axle linkage superduty numerical control file milling machine, five-axle linkage superduty propeller blade machining tool), wind-powered electricity generation, metallurgy, automobile need;

Light alloy material (aluminium, magnesium) shaping and complete equipment for processing, automation press line, precision casting transfer matic, the robot automation outfit that is welded, cover equipment, general assembly automation complete set of equipments are dressed up in the robot spray;

That the electronic and communication facility manufacturing industry needs is high-precision, at a high speed, complete manufacturing equipment, comprise complete machine dressing equipment special (full-automatic chip mounter, high-accuracy large-scale full-automatic printer, components and parts high speed plug-in mounting equipment, wiring board high-speed drilling equipment), production equipment special (mask aligner, Organometallic Chemistry part extension, deposit, etching system), and the numerical controlled machinery of other broad sense, such as textile machine, printing machinery, package packing machine, Medical Devices;

Semiconductor equipment, plastics, rubber manufacturing machinery, mailing machine, automatic production line, various special equipments or the like field.

Industry mechanical arm and robot, for example welding robot, point gum machine device people, transfer robot, taking and placing robot, plug-in component machine people, packaging robot, chemical-biological analysis robot, Medical Instruments robot, movement simulation platform etc.;

All kinds of control system and the equipment of Aero-Space and military field.

Claims (8)

1. the three-phase brushless permanent magnet DC motor of a big or small toothing is equipped with manyly to permanent magnet on the rotor core of described motor, three phase windings are housed in the groove of stator, it is characterized in that,

Wherein, the groove on the stator core is counted between the number of magnetic poles 2P on Z, the rotor core the corresponding relation shown in the following table, corresponding to Z stator slot, Z tooth should be arranged mutually, comprising Z/2 canine tooth, a Z/2 little tooth:

Groove is counted Z 42? 48? 54? 60? Number of magnetic poles 2P 28? 32? 36? 40?

Described three phase windings comprise Z/2 concentrated winding, respectively on Z/2 canine tooth, every have Z/6 concentrated winding mutually, the ordering of described concentrated winding and tooth is: A concentrates on winding → little tooth → canine tooth B to concentrate mutually that C concentrates winding → little tooth mutually on winding → little tooth → canine tooth mutually on the canine tooth, and the rest may be inferred;

Wherein, comprise canine tooth iron core and Z/2 independently little tooth iron core in the described stator core, yoke portion between every adjacent two canine tooths is provided with one and is inserted into groove, total Z/2 is inserted into groove, each described little tooth iron core be inserted at described canine tooth iron core by its afterbody one of them be inserted in the groove, and then form Z/2 little tooth.

2. the three-phase brushless permanent magnet DC motor of big or small toothing according to claim 1 is characterized in that, described canine tooth iron core is the whole canine tooth iron core of integral type; Perhaps, described canine tooth iron core is made up of the monomer canine tooth iron core of Z/2 same structure, splices mutually in the stator slot centerline of these two canine tooths between adjacent two monomer canine tooth iron cores.

3. the three-phase brushless permanent magnet DC motor of big or small toothing according to claim 2 is characterized in that, the width of rebate of the groove on the described stator core between adjacent canine tooth and the little tooth is 0.1～3.0mm; Each canine tooth accounts for 150 °～234 ° of circumference electrical degrees, and each little tooth adds that its both sides notch accounts for 90 °～6 ° of circumference electrical degrees, and the electrical degree sum of a canine tooth and a little tooth equals 240 °.

4. the three-phase brushless permanent magnet DC motor of big or small toothing according to claim 2 is characterized in that, the width of rebate of the groove on the described stator core between adjacent canine tooth and the little tooth is 0.1～3.0mm; When Z/2 was even number, Z/4 was first canine tooth that accounts for 224 ° ± 2 ° of circumference electrical degrees in the described canine tooth, and Z/4 is second canine tooth that accounts for 192 ° ± 2 ° of circumference electrical degrees in addition; Each little tooth adds that its both sides notch accounts for 32 ° ± 2 ° of circumference electrical degrees; Ordering between described each tooth is: first canine tooth → little tooth → second canine tooth → little tooth, and the rest may be inferred; And it is 480 ° that adjacent one group of first canine tooth, little tooth, second canine tooth, little tooth account for circumference electrical degree sum.

5. the three-phase brushless permanent magnet DC motor of big or small toothing according to claim 2, it is characterized in that, each permanent magnet N, S magnetic pole are alternately on the described rotor core, described permanent magnet is the tile-shaped magnet steel of radial magnetizing or the tile-shaped magnet steel of parallel magnetization, and described tile-shaped magnet steel is for waiting radius tile-shaped magnet steel or top rake tile-shaped magnet steel;

Physics air gap between described stator and the rotor is 0.2～3mm;

The pole span of the permanent magnet on the described rotor core is (1～0.8) * π D/4, and wherein D is a rotor diameter;

Wherein also comprise the rotor-position sensor of being made by hall position sensor, the magnetosensitive sense direction of described hall position sensor is consistent with the rotor normal direction, be installed on the stator support, and and the rotor permanent magnet cylindrical between keep the air gap of 1～3mm.

6. the three-phase brushless permanent magnet DC motor of big or small toothing according to claim 2 is characterized in that, draws after Z/6 the concentrated winding that belongs to same phase is connected successively by circumferential order again, forms one group of A-A ', B-B ', C-C ' three phase windings.

7. the three-phase brushless permanent magnet DC motor of big or small toothing according to claim 2, it is characterized in that, motor at the even numbers as a result of Z/6, the concentrated winding of Z/6 that belongs to same phase in twos and be unified into Z/12 unit in parallel earlier, draw after the series connection successively again, form one group of A-A ', B-B ', C-C ' three phase windings.

8. the three-phase brushless permanent magnet DC motor of big or small toothing according to claim 2 is characterized in that, Z/6 the concentrated winding that belongs to same phase drawn separately respectively, forms Z/6 group A-A ', B-B ', C-C ' three phase windings.

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