WO2020228297A1 - 一种适于转子绝对位置无传感器控制的新型双定子复合电机 - Google Patents

一种适于转子绝对位置无传感器控制的新型双定子复合电机 Download PDF

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WO2020228297A1
WO2020228297A1 PCT/CN2019/121222 CN2019121222W WO2020228297A1 WO 2020228297 A1 WO2020228297 A1 WO 2020228297A1 CN 2019121222 W CN2019121222 W CN 2019121222W WO 2020228297 A1 WO2020228297 A1 WO 2020228297A1
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motor
stator
rotor
permanent magnet
motors
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PCT/CN2019/121222
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English (en)
French (fr)
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倪荣刚
聂述鑫
吴亚伟
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青岛大学
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Priority to US16/965,406 priority Critical patent/US20210135554A1/en
Publication of WO2020228297A1 publication Critical patent/WO2020228297A1/zh

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K16/00—Machines with more than one rotor or stator
    • H02K16/04—Machines with one rotor and two stators
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22—Rotating parts of the magnetic circuit
    • H02K1/27—Rotor cores with permanent magnets
    • H02K1/2706—Inner rotors
    • H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
    • H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22—Rotating parts of the magnetic circuit
    • H02K1/27—Rotor cores with permanent magnets
    • H02K1/2706—Inner rotors
    • H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
    • H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
    • H02K1/2753—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets the rotor consisting of magnets or groups of magnets arranged with alternating polarity
    • H02K1/276—Magnets embedded in the magnetic core, e.g. interior permanent magnets [IPM]
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22—Rotating parts of the magnetic circuit
    • H02K1/27—Rotor cores with permanent magnets
    • H02K1/2793—Rotors axially facing stators
    • H02K1/2795—Rotors axially facing stators the rotor consisting of two or more circumferentially positioned magnets
    • H02K1/2796—Rotors axially facing stators the rotor consisting of two or more circumferentially positioned magnets where both axial sides of the rotor face a stator
    • 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
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
    • H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • H02K5/15—Mounting arrangements for bearing-shields or end plates
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • H02K5/16—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields
    • H02K5/167—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields using sliding-contact or spherical cap bearings
    • H02K5/1672—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields using sliding-contact or spherical cap bearings radially supporting the rotary shaft at both ends of the rotor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • H02K5/20—Casings or enclosures characterised by the shape, form or construction thereof with channels or ducts for flow of cooling medium
    • H02K5/203—Casings or enclosures characterised by the shape, form or construction thereof with channels or ducts for flow of cooling medium specially adapted for liquids, e.g. cooling jackets
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K9/00—Arrangements for cooling or ventilating
    • H02K9/19—Arrangements for cooling or ventilating for machines with closed casing and closed-circuit cooling using a liquid cooling medium, e.g. oil

Definitions

  • the invention belongs to the technical field of motor equipment manufacturing, and particularly relates to a novel dual-stator composite motor suitable for sensorless control of the absolute position of the rotor.
  • High-end equipment such as modern CNC machine tools, smart home appliances, and robots require the motor drive system to have the ability to detect the absolute position of the rotor (also known as the mechanical angle position).
  • the absolute position of the rotor also known as the mechanical angle position
  • Different from the conventional relative position (also known as electrical angle position) detection can be achieved by position sensor or position sensorless control.
  • the absolute position of the motor rotor must pass the absolute position sensor. Detection.
  • the absolute position sensor is very expensive, the encoding and signal transmission methods are complicated, and the installation of the position sensor occupies the motor axial space, which reduces the power density, integration and reliability of the system.
  • Conventional sensorless control can only detect the electrical angle position information of the rotor, so for a motor with p>1, the absolute position of the rotor cannot be obtained through sensorless control. It can be seen that in order to realize the sensorless control of the absolute rotor position, it is necessary to start with the motor topology and make improvements without affecting the performance of the motor.
  • a double-stator synchronous motor has two stators and one rotor. There is an air gap between the stator and the rotor, so the dual stator motor has two air gaps.
  • the motor types and the number of pole pairs corresponding to the two air gaps are usually the same.
  • the current research on the sensorless control of the absolute rotor position is very rare, and there are only a few public reports from Seoul University in South Korea. It manufactures the asymmetry of the mechanical cycle by modifying the stator and rotor structure of the motor, designing rotor poles with different contours, adding detection windings in the stator, and identifying the absolute position of the rotor with the high-frequency voltage injection method.
  • the mechanical cycle of the manufacturing motor is not The symmetry also increases the winding inductance and back-EMF harmonics, which brings new problems such as torque ripple and vibration noise. It is difficult to balance the motor performance and the absolute position detection accuracy; moreover, the additional detection winding occupies the stator space , Is not conducive to improving power density.
  • the two air gaps are usually the same in motor type and number of pole pairs.
  • hybrid excitation motor structures, memory motors and flux switching motors that combine motor structures to achieve rotation Composite structures such as linear motion double stator motor structure, double stator motor structure integrated active bearing.
  • the purpose of the above structure is only to achieve high power density, wide speed range or multiple degrees of freedom control, and cannot achieve sensorless control of the absolute rotor position. Therefore, the present invention starts with the motor topology and proposes a new type of dual-stator composite motor suitable for sensorless control of the absolute rotor position.
  • the purpose of the present invention is to overcome the above-mentioned shortcomings. Aiming at the technical problems that conventional synchronous motors and sensorless control cannot achieve absolute rotor position detection, from the perspective of motor topology, a new type of dual-stator composite motor structure is proposed, which utilizes different motor types and poles. The reasonable combination of logarithms can realize sensorless control of the absolute position of the motor rotor while increasing the power density of the motor system.
  • the outer stator is fitted in the motor casing, and is limited by the retaining ring, and then clamped by the front end cover and the rear end cover; the small cover of the back end cover of the static shaft is installed in the center of the back end cover, and the inner stator is fixed on the static shaft.
  • the stator and the inner stator are concentric.
  • the above-mentioned components constitute the stationary part of the motor; the rotor is assembled between the outer stator and the inner stator, and forms the rotating part of the motor through the front rotor support and the moving shaft.
  • the rotating part is isolated from the front end cover by the front outer bearing , After connecting the rear rotor support, it is isolated from the rear end cover by the rear outer bearing, the moving shaft and the static shaft are separated by the inner bearing, the outer stator and the outer side of the rotor form an outer air gap motor, and the inner stator and the inner side of the rotor form an inner air gap motor;
  • the gap motor type and the internal air gap motor type can be any two-by-two combination or self-combination of the following motor types, namely permanent magnet synchronous motor (permanent magnet brushless motor), synchronous reluctance motor, switched reluctance motor, electric Excitation synchronous motor, hybrid excitation synchronous motor, etc., and any of the above motor types are combined with reluctance or winding resolver;
  • the type of motor involved in the present invention is a synchronous motor, which mainly includes permanent magnet synchronous motor, permanent magnet brushless motor, electrically excited synchronous motor, hybrid excitation synchronous motor, synchronous reluctance motor, switched reluctance motor, reluctance or winding Type resolver.
  • the permanent magnet arrangement shown in the present invention can adopt a radial arrangement, a tangential arrangement, and a mixed arrangement.
  • the hybrid arrangement includes U-shaped, V-shaped, W-shaped, and other radial and tangential mixed permanent magnet arrangements.
  • cooling water channels can be provided in the casing and the static shaft, and cooling methods such as air cooling and natural cooling can also be adopted without opening water channels according to the actual temperature rise; other motor structures are deformed.
  • the topology of the motor provided by the present invention is a double stator structure with a radial magnetic field, that is, the direction of the air gap magnetic field is the radial direction; the movement mode is a rotating movement.
  • the present invention can also be applied to double stator and multi-stator structures such as axial field motors (also called disc motors).
  • the air gap magnetic field direction of this type of motor structure is axial, and the stator and rotor are circular. Disk shape; the movement mode is also rotating.
  • the patent of the present invention is also applicable to a double stator-single mover linear motor structure (movement mode is linear motion) and planar motor structure (movement mode is plane motion).
  • the present invention has the following beneficial effects:
  • the purpose of the patent of the present invention is to start with the motor topology and propose a motor structure suitable for sensorless control of the absolute rotor position.
  • the motor topology proposed in the present invention does not change the periodicity of the electromagnetic structure of the motor, that is, does not introduce mechanical periodic harmonics, but from the perspective of improving the control dimension, based on the dual stator motor structure, the motor structures of different types and pole pairs are radially Integration, through the sensorless detection of the electrical angle positions of the two air gaps, and then demodulate the electrical angle positions of the two air gaps obtained by the detection, and finally obtain the absolute position of the rotor.
  • the motor topology proposed by the present invention has the advantages of high power density, high integration, high reliability and the like while realizing sensorless detection of the absolute rotor position.
  • the main structure is simple, the design concept is ingenious, the application environment is friendly, and the market prospect is broad.
  • Fig. 1 is a schematic diagram of a radial cross-section of a radial magnetic field dual-stator composite motor according to the present invention.
  • FIG. 2 is a schematic diagram of a radial cross-section of a dual-stator composite motor composed of a permanent magnet synchronous motor and a permanent magnet synchronous motor according to the present invention.
  • Fig. 3 is a schematic diagram of a radial cross-section of a dual-stator composite motor composed of a permanent magnet synchronous motor and a synchronous reluctance motor according to the present invention.
  • FIG. 4 is a schematic diagram of a radial cross-section of a dual-stator composite motor composed of a synchronous reluctance motor and a permanent magnet synchronous motor according to the present invention.
  • Fig. 5 is a schematic diagram of a radial cross-section of a dual-stator composite motor composed of a synchronous reluctance motor and a synchronous reluctance motor according to the present invention.
  • FIG. 6 is a schematic diagram of the axial cross-section of the dual-stator composite disc motor combined with a permanent magnet synchronous motor and a permanent magnet synchronous motor according to the present invention.
  • Fig. 7 is a cross-sectional schematic diagram of a dual-stator composite linear motor combining a permanent magnet synchronous motor and a permanent magnet synchronous motor according to the present invention.
  • moving shaft 1 front end cover 2, front outer bearing 3, front rotor support 4, inner stator 5, rotor 6, outer stator 7, housing 8, static shaft 9, rear rotor support 10, rear outer bearing 11,
  • the retaining ring 12 the inner bearing 13, the rear end cover 14, the rear end cover small cover 15, the inner stator winding 16, the outer stator winding 17, the inner air gap permanent magnet 18, and the outer air gap permanent magnet 19.
  • the outer stator 7 is sheathed in the motor casing 8, and is limited by the retaining ring 12, and then clamped by the front cover 2 and the rear cover 14; the static shaft 9 and the rear cover small cover 15 are installed in the rear At the center of the end cover 14, the inner stator 5 is fixed on the static shaft 9.
  • the outer stator 7 and the inner stator 5 are concentric.
  • the above components constitute the stationary part of the motor; the rotor 6 is assembled between the outer stator 7 and the inner stator 5 and passes through the front
  • the rotor support 4 and the moving shaft 1 form the rotating part of the motor.
  • the rotating part is isolated from the front end cover 2 by the front outer bearing 3. After connecting the rear rotor support 10, it is isolated from the rear end cover 14 by the rear outer bearing 11, and the moving shaft 1 is separated from the static
  • the shaft 9 is isolated by an inner bearing 13.
  • the outer stator 7 and the rotor 6 form an outer air gap motor
  • the inner stator 5 and the rotor 6 form an inner air gap motor
  • the outer air gap motor type and the inner air gap motor type can be any combination of the following motor types Or self-combined, namely permanent magnet synchronous motor (permanent magnet brushless motor), synchronous reluctance motor, switched reluctance motor, electrically excited synchronous motor, hybrid excitation synchronous motor, etc., and any of the above motor types and reluctance Or winding rotary transformer composite, specific examples can be as follows:
  • Synchronous reluctance motor is combined with reluctance or winding type resolver
  • Figure 2 shows a schematic diagram of a radial cross-section of a dual-stator composite motor composed of a permanent magnet synchronous motor and a permanent magnet synchronous motor.
  • the inner stator 5 is wound with an inner stator winding 16, and the rotor 6 is embedded with an inner air gap permanent magnet 18; 7 is wound with an outer stator winding 17, and an outer air gap permanent magnet 19 is embedded outside the rotor 6.
  • the number of pole pairs of outer air gap and inner air gap shown in this schematic diagram are 3 and 2 respectively;
  • Figure 3 shows a schematic diagram of a radial cross-section of a dual-stator composite motor composed of a permanent magnet synchronous motor and a synchronous reluctance motor.
  • the inner stator 5 is wound with an inner stator winding 16;
  • the outer stator 7 is wound with an outer stator winding 17 and the rotor 6 is embedded outside
  • the number of pole pairs of outer air gap and inner air gap shown in this schematic diagram are 3 and 2 respectively;
  • Figure 4 shows a schematic diagram of a radial cross-section of a dual-stator composite motor composed of a synchronous reluctance motor and a permanent magnet synchronous motor.
  • the inner stator 5 is wound with an inner stator winding 16, and the rotor 6 is embedded with an inner air gap permanent magnet 18; 7
  • the outer stator winding 17 is wound, and the number of pole pairs of the outer air gap and the inner air gap shown in the schematic diagram are 3 and 2 respectively;
  • Figure 5 shows a schematic diagram of a radial cross-section of a dual-stator composite motor composed of a synchronous reluctance motor and a synchronous reluctance motor.
  • the inner stator 5 is wound with an inner stator winding 16 and the outer stator 7 is wound with an outer stator winding 17.
  • the schematic diagram shows The pole pairs of the outer air gap and the inner air gap are 3 and 2 respectively;
  • the motor type involved in this embodiment is a synchronous motor, which mainly includes permanent magnet synchronous motor, permanent magnet brushless motor, electrically excited synchronous motor, hybrid excitation synchronous motor, synchronous reluctance motor, switched reluctance motor, reluctance or winding Linear resolver.
  • the moving shaft 1 in Figure 1 has a shaft extension at the front and rear covers, or only one shaft extension; the static shaft 9, the rear cover 14 and the rear
  • the small end cover 15 can be a separate structure or be made into a whole; the casing 8 and the static shaft 9 can be provided with cooling water channels, or according to the actual temperature rise, air cooling, natural cooling and other cooling methods can be adopted instead of water channels; The structure of other motors is deformed.
  • the permanent magnet arrangement shown in this embodiment is only an example.
  • tangential arrangements and mixed arrangements can also be used, including U-shaped, V-shaped, W-shaped and other permanent magnet arrangements with mixed diameter and tangential directions.
  • FIG. 6 it is a schematic diagram of the axial cross-section of a dual-stator composite disc motor combined with a permanent magnet synchronous motor and a permanent magnet synchronous motor.
  • the left stator 20 is wound with a left stator winding, and the left side surface of the rotor 6 is attached with a left air gap.
  • the permanent magnet 21, the right stator 23 is wound with a right stator winding, the right air gap permanent magnet 22 is attached to the right side of the rotor 6, and the rotor 6 is sandwiched between the left stator 20 and the right stator 23.
  • the rotor 6 is driven to rotate by the shaft 1.
  • the schematic diagram shows the number of pole pairs of the left air gap and the right air gap are 3 and 2, respectively.
  • FIG 7 it is a cross-sectional schematic diagram of a dual-stator composite linear motor combining a permanent magnet synchronous motor and a permanent magnet synchronous motor.
  • the upper stator 24 is wound with an upper stator winding, and the upper surface of the mover 26 is pasted with an upper air gap permanent magnet 25 ,
  • the lower stator 28 is wound with a lower stator winding, and a lower air gap permanent magnet 27 is attached to the lower surface of the mover 26.
  • the schematic diagram shows the upper air gap and the lower air gap pole pairs are 3 and 2, respectively.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Brushless Motors (AREA)
  • Permanent Magnet Type Synchronous Machine (AREA)
  • Linear Motors (AREA)

Abstract

一种适于转子绝对位置无传感器控制的新型双定子复合电机，属于电机设备制造技术领域，其中内定子（5）固定在静轴（9）上，外定子（7）与内定子（5）同心，上述部件组成电机的静止部分；转子（6）装配于外定子（7）与内定子（5）之间，并通过前转子支撑（4）与动轴（1）组成电机的旋转部分，该旋转部分通过前外轴承（3）与前端盖（2）隔离，连接后转子支撑（10）后通过后外轴承（11）与后端盖（14）隔离，动轴（1）与静轴（9）通过内轴承（13）隔离，该电机将不同类型和极对数的电机结构径向集成，通过对两个气隙电角度位置进行无传感器检测，再对检测得到的两个气隙的电角度位置进行解调，最终得到转子绝对位置。因此，该电机拓扑在实现转子绝对位置无传感器检测的同时，亦具有高功率密度、高集成度、高可靠性等优点。

Description

一种适于转子绝对位置无传感器控制的新型双定子复合电机 技术领域：
本发明属于电机设备制造技术领域，具体涉及一种适于转子绝对位置无传感器控制的新型双定子复合电机。
背景技术：
现代数控机床、智能家电以及机器人等高端装备要求电机驱动***具备转子绝对位置(亦称机械角度位置)检测能力。不同于常规相对位置(亦称电角度位置)检测既可通过位置传感器、亦可通过无位置传感器控制实现，由于电机内部电磁结构的周期对称性，目前电机转子的绝对位置必须通过绝对式位置传感器检测。然而，绝对式位置传感器价格十分昂贵，编码和信号传输方式复杂，而且安装位置传感器占用电机轴向空间，降低了***的功率密度、集成度和可靠性。
常规同步电机为单定子-单转子结构，其内部电磁周期为机械周期的p倍，其中p为电机极对数。仅当p＝1时，电机转子的绝对位置与相对位置相等；而在绝大多数应用领域，p为大于1的整数。常规无传感器控制仅能检测转子的电角度位置信息，因此对于p>1的电机，无法通过无传感器控制得到转子绝对位置。可见，为了实现转子绝对位置无传感器控制，必须从电机拓扑入手，在不影响电机性能的前提下予以改进。同步电机拓扑结构较多，其中双定子结构在提高电机功率密度、弱磁范围等方面具有优势。双定子同步电机具有两个定子，以及一个转子。定、转子之间存在气隙，因此双定子电机具有两个气隙。现有的双定子同步电机，其两个气隙对应的电机类型和极对数通常相同。
受制于电机磁路结构的周期性，目前关于转子绝对位置无传感器控制的研究十分少见，仅韩国首尔大学有少量公开报道。其通过改造电机定、转子结构制造机械周期的不对称性，设计轮廓各异的转子磁极，并在定子中附加检测绕组，结合高频电压注入法辨识转子绝对位置，然而，制造电机机械周期不对称性的同时也增加了绕组电感和反电势谐波，带来转矩脉动和振动噪声等新问题，难以在电机性能和绝 对位置检测精度之间权衡；而且，附加的检测绕组占用了定子空间，不利于提高功率密度。
在双定子电机结构方面，其两个气隙采用电机类型和极对数通常相同，除此之外，亦有混合励磁电机结构、记忆电机与磁通切换电机相结合的电机结构、可以实现旋转直线运动的双定子电机结构、集成主动轴承的双定子电机结构等复合结构。然而，上述结构的目的仅是实现高功率密度、宽调速范围或多自由度控制，并不能实现转子绝对位置的无传感器控制。因此，本发明从电机拓扑入手，提出一种适于转子绝对位置无传感器控制的新型双定子复合电机。
发明内容：
本发明的目的在于克服上述缺陷，针对常规同步电机以及无传感器控制无法实现转子绝对位置检测的技术难题，从电机拓扑角度出发，提出一种新型的双定子复合电机结构，利用不同电机类型与极对数的合理组合，在提高电机***功率密度的同时，实现电机转子的绝对位置无传感器控制。
为了实现上述目的，本发明涉及的一种适于转子绝对位置无传感器控制的新型双定子复合电机通过如下方案实现：
电机机壳内套装外定子，并通过挡圈限位，再由前端盖和后端盖夹紧；静轴后端盖小盖安装在后端盖中心位置，内定子固定在静轴上，外定子与内定子同心，上述部件组成电机的静止部分；转子装配于外定子与内定子之间，并通过前转子支撑与动轴组成电机的旋转部分，该旋转部分通过前外轴承与前端盖隔离，连接后转子支撑后通过后外轴承与后端盖隔离，动轴与静轴通过内轴承隔离，外定子与转子外侧形成外气隙电机，内定子与转子内侧形成内气隙电机；外气隙电机类型与内气隙电机类型可为如下几种电机类型中的任意两两复合或自身复合，即永磁同步电机(永磁无刷电机)、同步磁阻电机、开关磁阻电机、电励磁同步电机、混合励磁同步电机等，以及上述电机类型中的任意一种与磁阻或绕线式旋转变压器复合；
两个气隙电机的极对数p1和p2满足如下基本规律：
1)p1≠p2，且p1与p2最大公约数等于1，其中p1和p2均为正整数；
2)|m·p1–n·p2|＝1，其中p1和p2均为正整数，m、n为正整数；
本发明涉及的电机类型为同步电机，同步电机主要包括永磁同步电机、永磁无刷电机、电励磁同步电机、混合励磁同步电机、同步磁阻电机、开关磁阻电机、磁阻或绕线式旋转变压器。
本发明中展示的永磁体布置方式能够采用径向布置、切向布置以及混合布置，其中混合布置包括有U型、V型、W型以及其它径、切向混合的永磁体布置方式。
本发明中机壳与静轴中可以开设冷却水道，亦可根据实际温升情况不开设水道而采用风冷、自然冷却等冷却方式；其它电机结构变形。
本发明提供的电机拓扑均为径向磁场的双定子结构，即其气隙磁场的方向为径向；运动方式为旋转运动。除此之外，本发明亦可应用于如轴向磁场电机(亦称为盘式电机)的双定子以及多定子结构，该类电机结构的气隙磁场方向为轴向，定、转子为圆盘形；运动方式同样为旋转运动。除上述旋转电机外，本发明专利亦适用于双定子-单动子的直线电机结构(运动方式为直线运动)、平面电机结构(运动方式为平面运动)。
本发明与现有技术相比，取得的有益效果如下：
本发明专利的目的是从电机拓扑入手，提出一种适于转子绝对位置无传感器控制的电机结构。本发明提出的电机拓扑不改变电机电磁结构的周期性，即不引入机械周期谐波，而是从提高控制维度角度出发，基于双定子电机结构，将不同类型和极对数的电机结构径向集成，通过对两个气隙电角度位置进行无传感器检测，再对检测得到的两个气隙的电角度位置进行解调，最终得到转子绝对位置。因此，本发明提出的电机拓扑在实现转子绝对位置无传感器检测的同时，亦具有高功率密度、高集成度、高可靠性等优点。综上，其主体结构简单，设计构思巧妙，应用环境友好，市场前景广阔。
附图说明：
图1为本发明涉及的径向磁场双定子复合电机径向剖面示意图。
图2为本发明涉及的永磁同步电机与永磁同步电机复合的双定子复合电机径向截面示意图。
图3为本发明涉及的永磁同步电机与同步磁阻电机复合的双定子复合电机径向截面示意图。
图4为本发明涉及的同步磁阻电机与永磁同步电机复合的双定子复合电机径向截面示意图。
图5为本发明涉及的同步磁阻电机与同步磁阻电机复合的双定子复合电机径向截面示意图。
图6为本发明涉及的永磁同步电机与永磁同步电机复合的双定子复合盘式电机轴向截面示意图。
图7为本发明涉及的永磁同步电机与永磁同步电机复合的双定子复合直线电机截面示意图。
图中：动轴1，前端盖2，前外轴承3，前转子支撑4，内定子5，转子6，外定子7，机壳8，静轴9，后转子支撑10，后外轴承11，挡圈12，内轴承13，后端盖14，后端盖小盖15，内定子绕组16，外定子绕组17，内气隙永磁体18，外气隙永磁体19。
具体实施方式：
下面通过实施例并结合附图对本发明作进一步说明。
实施例1：
本实施例涉及的一种适于转子绝对位置无传感器控制的新型双定子复合电机通过如下技术方案实现：
如图1所示，电机机壳8内套装外定子7，并通过挡圈12限位，再由前端盖2和后端盖14夹紧；静轴9与后端盖小盖15安装在后端盖14中心位置，内定子5固定在静轴9上，外定子7与内定子5同心，上述部件组成电机的静止部分；转子6装配于外定子7与内定子5之间，并通过前转子支撑4与动轴1组成电机的旋转部分，该旋转部分通过前外轴承3与前端盖2隔离，连接后转子支撑10后通过后 外轴承11与后端盖14隔离，动轴1与静轴9通过内轴承13隔离。
外定子7与转子6外侧形成外气隙电机，内定子5与转子6内侧形成内气隙电机；外气隙电机类型与内气隙电机类型可为如下几种电机类型中的任意两两复合或自身复合，即永磁同步电机(永磁无刷电机)、同步磁阻电机、开关磁阻电机、电励磁同步电机、混合励磁同步电机等，以及上述电机类型中的任意一种与磁阻或绕线式旋转变压器复合，具体可举例如下：
1)永磁同步电机(永磁无刷电机)与永磁同步电机复合；
2)永磁同步电机(永磁无刷电机)与同步磁阻电机复合；
3)永磁同步电机(永磁无刷电机)与开关磁阻电机；
4)永磁同步电机(永磁无刷电机)与电励磁同步电机；
5)永磁同步电机(永磁无刷电机)与混合励磁同步电机；
6)永磁同步电机(永磁无刷电机)与磁阻或绕线式旋转变压器；
7)同步磁阻电机与同步磁阻电机复合；
8)同步磁阻电机与开关磁阻电机复合；
9)同步磁阻电机与电励磁同步电机复合；
10)同步磁阻电机与混合励磁同步电机复合；
11)同步磁阻电机与磁阻或绕线式旋转变压器复合；
12)开关磁阻电机与开关磁阻电机复合；
13)开关磁阻电机与电励磁同步电机复合；
14)开关磁阻电机与混合励磁同步电机复合；
15)开关磁阻电机与磁阻或绕线式旋转变压器复合；
16)电励磁同步电机与电励磁同步电机复合；
17)电励磁同步电机与混合励磁同步电机复合；
18)电励磁同步电机与磁阻或绕线式旋转变压器复合；
19)混合励磁同步电机与混合励磁同步电机复合；
20)混合励磁同步电机与磁阻或绕线式旋转变压器复合；
两个气隙电机的极对数p1和p2满足如下基本规律：
1)p1≠p2，且p1与p2最大公约数等于1，其中p1和p2均为 正整数；
或
2)|m·p1–n·p2|＝1，其中p1和p2均为正整数，m、n为正整数；
或
3)p1＝p2+1或p1＝p2–1，其中p1和p2均为正整数；
或
4)p1＝2，p2为任意正奇数或p2＝2，p1为任意正奇数；
或
5)p1＝1，p2为任意正整数或p2＝1，p1为任意正整数；
图2所示为永磁同步电机与永磁同步电机复合的双定子复合电机径向截面示意图，其中内定子5绕有内定子绕组16，转子6内侧嵌有内气隙永磁体18；外定子7绕有外定子绕组17，转子6外侧嵌有外气隙永磁体19。该示意图展示的外气隙与内气隙极对数分别为3和2；
图3所示为永磁同步电机与同步磁阻电机复合的双定子复合电机径向截面示意图，其中内定子5绕有内定子绕组16；外定子7绕有外定子绕组17，转子6外侧嵌有外气隙永磁体19。该示意图展示的外气隙与内气隙极对数分别为3和2；
图4所示为同步磁阻电机与永磁同步电机复合的双定子复合电机径向截面示意图，其中内定子5绕有内定子绕组16，转子6内侧嵌有内气隙永磁体18；外定子7绕有外定子绕组17，该示意图展示的外气隙与内气隙极对数分别为3和2；
图5所示为同步磁阻电机与同步磁阻电机复合的双定子复合电机径向截面示意图，其中内定子5绕有内定子绕组16，外定子7绕有外定子绕组17，该示意图展示的外气隙与内气隙极对数分别为3和2；
本实施例涉及的电机类型为同步电机，同步电机主要包括永磁同步电机、永磁无刷电机、电励磁同步电机、混合励磁同步电机、同步 磁阻电机、开关磁阻电机、磁阻或绕线式旋转变压器。
本实施例涉及的电机具体结构仅为示例，除此之外，图1中的动轴1在前后端盖均有轴伸，亦可只有一个轴伸；静轴9、后端盖14与后端盖小盖15可为分离结构，亦可做成整体；机壳8与静轴9中可以开设冷却水道，亦可根据实际温升情况不开设水道而采用风冷、自然冷却等冷却方式；其它电机结构变形。
本实施例中展示的永磁体布置方式仅为示例，除图2、图3和图4中所示的径向布置外，还可以采用切向布置以及混合布置，包括有U型、V型、W型以及其它径、切向混合的永磁体布置方式。
实施例2：
如图6所示，为永磁同步电机与永磁同步电机复合的双定子复合盘式电机轴向截面示意图，其中左定子20内绕有左定子绕组，转子6左侧表面贴有左气隙永磁体21，右定子23绕有右定子绕组，转子6右侧表面贴有右气隙永磁体22，转子6被左定子20和右定子23夹在中间，转子6由轴1带动旋转，该示意图展示的左气隙与右气隙极对数分别为3和2。
实施例3：
如图7所示，为永磁同步电机与永磁同步电机复合的双定子复合直线电机截面示意图，其中上定子24内绕有上定子绕组，动子26上表面贴有上气隙永磁体25，下定子28绕有下定子绕组，动子26外下表面贴有下气隙永磁体27。该示意图展示的上气隙与下气隙极对数分别为3和2。

Claims (8)

  1. 一种适于转子绝对位置无传感器控制的新型双定子复合电机，其特征在于外定子与转子外侧形成外气隙电机，内定子与转子内侧形成内气隙电机；外气隙电机类型与内气隙电机类型可为如下几种电机类型中的任意两两复合或自身复合，即永磁同步电机、同步磁阻电机、开关磁阻电机、电励磁同步电机、混合励磁同步电机等，以及上述电机类型中的任意一种与磁阻或绕线式旋转变压器复合。
  2. 一种适于转子绝对位置无传感器控制的新型双定子复合电机，其特征在于两个气隙电机的极对数p1和p2满足如下基本规律：
    1)p1≠p2，且p1与p2最大公约数等于1，其中p1和p2均为正整数；
    或
    2)|m·p1–n·p2|＝1，其中p1和p2均为正整数，m、n为正整数。
  3. 一种适于转子绝对位置无传感器控制的新型双定子复合电机，其特征在于两个气隙电机的极对数p1和p2满足如下基本规律：p1＝p2+1或p1＝p2–1，其中p1和p2均为正整数。
  4. 一种适于转子绝对位置无传感器控制的新型双定子复合电机，其特征在于两个气隙电机的极对数p1和p2满足如下基本规律：p1＝2，p2为任意正奇数或p2＝2，p1为任意正奇数。
  5. 一种适于转子绝对位置无传感器控制的新型双定子复合电机，其特征在于：两个气隙电机的极对数p1和p2满足如下基本规律：p1＝1，p2为任意正整数或p2＝1，p1为任意正整数。
  6. 根据权利要求1-5中任一权利要求所述的一种适于转子绝对位置无传感器控制的新型双定子复合电机，其特征在于电机类型为同步电机，同步电机包括永磁同步电机、永磁无刷电机、电励磁同步电机、混合励磁同步电机、同步磁阻电机、开关磁阻电机、磁阻或绕线式旋转变压器。
  7. 根据权利要求1-5中任一权利要求所述的一种适于转子绝对位置无传感器控制的新型双定子复合电机，其特征在于电机拓扑均为 径向磁场的双定子结构，气隙磁场的方向为径向；运动方式为旋转运动，能够应用于如轴向磁场电机的双定子以及多定子结构，气隙磁场方向为轴向，定、转子为圆盘形；运动方式为旋转运动；能够适用于双定子-单动子的直线电机结构、平面电机结构。
  8. 根据权利要求7所述的一种适于转子绝对位置无传感器控制的新型双定子复合电机，其特征在于永磁体布置方式能够采用径向布置、切向布置以及混合布置，其中混合布置包括有U型、V型、W型以及其它径、切向混合的永磁体布置方式，其它电机结构变形。
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