A double-layer winding halbach fault-tolerant motor

Abstract

The invention discloses a Halbach fault-tolerant motor with double layers of windings. The motor comprises a stator, a rotor and a Halbach permanent magnet array, wherein a stator slot is divided intoan upper-layer slot and a lower-layer slot by a slot wedge along the radial direction, the radial cross section of the upper-layer slot is of a fan-shaped structure, the radial cross section of the lower-layer slot is of an arc wine glass structure, and in-phase windings are embedded in the upper-layer slot and the lower-layer slot respectively. During normal operation, the upper-layer winding and the lower-layer winding of the adjacent stator slots are connected in a staggered manner; when the winding has a fault, if the fault winding and the left and right adjacent windings are in-phase windings, the fault winding replaced is by adopting the same-groove different-layer winding; if the fault winding and the left and right adjacent windings have different phases, the windings of differentphases and the fault winding are replaced by the windings of different layers in the same slot. The motor is advantaged in that structures of the stator slots solves a problem of local heating of common stator teeth, and the double-layer design of the windings improves operation safety of the motor, so the motor structure has higher fault-tolerant performance.

Description

technical field [0001] The invention relates to a Halbach fault-tolerant motor with double-layer windings, belonging to the technical field of permanent magnet motors. Background technique [0002] Because robots have the advantages of reliability, stability, high work efficiency, and the ability to replace manual operations in high-risk environments, their application research has expanded from traditional industrial manufacturing to bioengineering, medical services, surveying, education and entertainment. Among them, the motor unit is one of the most important parts of the robot, which is crucial to whether the robot can run smoothly, accurately and reliably. In the 1980s, Professor Klaus Halbach first proposed the concept of a Halbach-type permanent magnet array, and discovered the characteristic of one-sided magnetic concentration of this structure. The Halbach permanent magnet synchronous motor not only has the advantages of small volume, wide speed regulation range, a...

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Problems solved by technology

[0003] Purpose of the invention: Aiming at the above-mentioned prior art, a Halbach fault-tolerant motor with double-layer windings suitable for robot joints is proposed to solve the problem of local overheating caused by magnetic saturation caused by unilateral magnetic accumulation of Halbach permanent magnet arrays, and to enhance the fault tolerance of the motor

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