Flat plate type homopolar slot permanent magnet linear motor

Abstract

The application provides a flat plate type homopolar and homoslot permanent magnet linear motor, which comprises two oppositely arranged stators, each of which comprises a stator core and an armature winding, each of the stator cores comprises tooth portions and tooth slots, the tooth slots are arranged between adjacent tooth portions, and the armature winding is wound on the tooth portions; a mover is arranged between the two stators, and gaps are arranged between the stators and the mover, the mover comprises a plurality of permanent magnets which are arranged at intervals along the length direction of the stator core, and adjacent permanent magnets are magnetically opposite; the tooth slots comprise first tooth slots and second tooth slots, the number of the first tooth slots is equal to the number of the second tooth slots, and both satisfy Z=3n; the effective magnetic pole number P1 of the permanent magnet corresponding to the first tooth slot to the gap satisfies P1=Z+k1, the effective magnetic pole number P2 of the permanent magnet corresponding to the second tooth slot to the gap satisfies P2=Z-k1, and k1 is a positive integer greater than or equal to 1; and the permanent magnet linear motor can reduce or weaken the thrust fluctuation.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of electric machines, and in particular to a flat plate type same-pole same-slot permanent magnet linear motor. BACKGROUND

[0002] Permanent magnet linear motor is a kind of electromagnetic drive device that can directly generate linear motion without mechanical conversion, which can effectively simplify the system structure of existing electric machines, improve work efficiency, and has important applications in aircraft actuation systems, transportation and other aspects. However, the interaction between the mover with permanent magnets and the stator teeth slot in the motor produces cogging force, and the relative movement between the stator and the mover produces end force. The resultant force of the cogging force and the end force produces positioning force, which causes thrust fluctuation, which directly affects the performance of the permanent magnet linear motor. The existing research methods mainly improve the structure of the permanent magnet linear motor to reduce the positioning force, including changing the parameters of the permanent magnet, the structural parameters of the stator, the air gap parameters, the pole-slot matching, etc. The pole-slot matching of the traditional permanent magnet motor adopts different slot number / pole number matching, and the motor's back electromotive force waveform tends to be triangular or trapezoidal. Neither triangular nor trapezoidal wave is conducive to reducing the thrust pulsation of the permanent magnet linear motor. At the same time, when using double-sided permanent magnet linear motor, the thrust of the motor can be effectively improved, but it will also lead to an increase in the positioning force of the motor. In order to reduce the positioning force, the existing double-sided flat plate permanent magnet linear motor usually adopts double-sided staggered mode or adjusts the length of the end, although the positioning force is reduced to a certain extent, but the corresponding thrust density is also reduced, so how to improve the thrust of the linear motor while effectively reducing the positioning force of the linear motor is particularly important. SUMMARY

[0003] Therefore, it is necessary to provide a flat plate type same-pole same-slot permanent magnet linear motor to increase the thrust density while reducing the thrust fluctuation of the linear motor.

[0004] The present application provides a flat plate type same-pole same-slot permanent magnet linear motor, comprising:

[0005] two oppositely arranged stators, each of the stators comprising a stator core and an armature winding, each of the stator cores comprising a tooth portion and a tooth slot, the tooth slots being arranged between adjacent tooth portions, and the armature winding being wound around the tooth portions;

[0006] a mover located between the two stators, and the stator and the mover having an air gap therebetween, the mover comprising a plurality of permanent magnets arranged at intervals along the length direction of the stator core, and adjacent permanent magnets having opposite magnetic properties;

[0007] wherein the number of tooth slots of each stator is equal to the effective number of magnetic poles of the permanent magnets with respect to the air gap;

[0008] The tooth slots include first tooth slots and second tooth slots, the number of the first tooth slots is equal to the number of the second tooth slots, and both satisfy Z=3n, wherein n is a positive integer greater than or equal to 1, and Z represents the number of the first tooth slots or the number of the second tooth slots; the number of effective magnetic poles P1 of the permanent magnet corresponding to the first tooth slot with respect to the air gap satisfies P1=Z+k1, the number of effective magnetic poles P2 of the permanent magnet corresponding to the second tooth slot with respect to the air gap satisfies P2=Z-k1, and k1 is a positive integer greater than or equal to 1.

[0009] In one of the embodiments, the mover core and a plurality of pairs of permanent magnets are provided, the plurality of pairs of permanent magnets are respectively arranged on two sides of the mover core, the permanent magnets on each side are evenly distributed along the length direction of the mover core, and the adjacent permanent magnets on each side are magnetically opposite.

[0010] In one of the embodiments, each of the stator cores includes a first stator part and a second stator part connected to the first stator part, the first stator part includes first tooth parts and first tooth slots between adjacent first tooth parts, and the second stator part includes second tooth parts and second tooth slots between adjacent second tooth parts, the number of the first tooth slots is equal to the number of the second tooth slots, the first tooth part includes a first end tooth and a plurality of first stator teeth, the plurality of first stator teeth are arranged at intervals, and the first tooth slots are formed between adjacent first stator teeth and between the end tooth and the adjacent first stator teeth.

[0011] The second tooth part includes a second end tooth and a plurality of second stator teeth, the plurality of second stator teeth are arranged at intervals, and the second tooth slots are formed between adjacent second stator teeth and between the end tooth and the adjacent second stator teeth.

[0012] The tooth width of the first stator tooth is equal to the tooth width of the second stator tooth.

[0013] In one of the embodiments, in any of the stators on either side, the current direction of the armature winding in the first tooth slot is odd-symmetrical about the boundary line between the first tooth slot and the second tooth slot to the current direction of the armature winding in the second tooth slot.

[0014] The winding connection of the armature winding in the first tooth slot is odd-symmetrical about the boundary line between the first tooth slot and the second tooth slot to the winding connection of the armature winding in the second tooth slot.

[0015] The phase sequence of the armature winding in the first tooth slot is odd-symmetrical about the boundary line between the first tooth slot and the second tooth slot to the phase sequence of the armature winding in the second tooth slot.

[0016] In one of the embodiments, two of the stators are arranged mirror symmetrically about the mover core, and each pair of the permanent magnets exhibits the same magnetic property.

[0017] In one of the embodiments, two of the stators are arranged symmetrically about the center of the mover core, and each pair of the permanent magnets exhibits the same or opposite magnetic property.

[0018] In one of the embodiments, the current direction of the armature winding in one of the stators is odd symmetric about the mover core with the current direction of the armature winding in the other stator;

[0019] The winding connection of the armature winding in one of the stators is odd symmetric about the mover core with the winding connection of the armature winding in the other stator;

[0020] The phase sequence of the armature winding in one of the stators is odd symmetric about the mover core with the phase sequence of the armature winding in the other stator.

[0021] In one of the embodiments, the winding connection of the A-phase winding in the armature winding is odd symmetric about the mover core, the winding connection of one of the B-phase windings is odd symmetric with the winding connection of the C-phase winding in the other stator; and the winding connection of one of the C-phase windings is odd symmetric with the winding connection of the B-phase winding in the other stator.

[0022] In one of the embodiments, the slot pitch of the first tooth slot is τ1, τ1=P1 / Z*τ p , the slot pitch of the second tooth slot is τ2, τ2=P2 / Z*τ p , and τ 1+ τ2=2*τ p , wherein τ p is the pole pitch.

[0023] In one of the embodiments, the stators are movably arranged relative to the length direction of the mover to cause the double-side misalignment of the stators on both sides. The flat-plate type homopolar and slot permanent magnet linear motor provided in the application reduces the cogging force and the thrust fluctuation of the permanent magnet linear motor through the double-side stators and the homopolar and slot manner to make the sine waves complementary. In addition, the stators on both sides can be relatively translated by a certain distance along the movement direction of the motor, and the cogging force of the linear motor can also be reduced through the phase difference of the sine function to reduce the thrust fluctuation, which is beneficial to the control of the permanent magnet linear motor. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 Structure sectional view of the permanent magnet linear motor with the double-side stators mirror symmetric and the same magnetic property of each pair of permanent magnets in one of the embodiments of the application;

[0025] Figure 2 Structure profile diagram of a permanent magnet linear motor with each pair of permanent magnets having the same magnetism in another embodiment of the present application with double-sided stator axial (central) symmetry;

[0026] Figure 3 Structure profile diagram of a permanent magnet linear motor with each pair of permanent magnets having opposite magnetism in another embodiment of the present application with double-sided stator axial (central) symmetry;

[0027] Figure 4 For Figure 1 Star diagram and winding phase diagram of double-sided cogging EMF in an embodiment;

[0028] Figure 5 For Figure 2 Or Figure 3 Star diagram and winding phase diagram of double-sided cogging EMF in an embodiment.

[0029] The drawings are as follows: 10, stator; 11, stator core; 111, first stator part; 112, second stator part; 113, first tooth part; 1131, first end tooth; 1132, first stator tooth; 114, first tooth slot; 115, second tooth part; 1151, second end tooth; 1152, second stator tooth; 116, second tooth slot; 12, armature winding; 13, boundary line; 20, mover; 21, mover core; 22, permanent magnet. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work belong to the scope of protection of the present application.

[0031] It should be noted that when an element is referred to as being "mounted on" another element, it can be directly on the other element or there can be an intervening element. When an element is referred to as being "disposed on" another element, it can be directly disposed on the other element or there can be an intervening element. When an element is referred to as being "fixed to" another element, it can be directly fixed to the other element or there can be an intervening element.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this description, the singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise.

[0033] For the existing linear motor, due to the interaction between the mover with permanent magnets and the stator tooth slot, the cogging force and the end force generated by the relative movement between the stator and the mover, the positioning force generated by the resultant force of the cogging force and the end force causes the thrust fluctuation, and the thrust fluctuation directly affects the performance of the permanent magnet linear motor.

[0034] Referring to Figures 1 to 5 The present application provides a flat plate type homopolar and homoslot permanent magnet linear motor, which reduces the influence of thrust fluctuation on the permanent magnet linear motor by limiting the number of tooth slots equal to the number of effective magnetic poles, thereby improving the controllability and efficiency of the permanent magnet linear motor.

[0035] Please refer to Figures 1 to 3 The flat plate type homopolar and homoslot permanent magnet linear motor provided by the present application includes two oppositely arranged stators 10 and a mover 20 between the two stators 10. Each stator 10 includes a stator core 11 and an armature winding 12, and each stator core 11 includes tooth portions and tooth slots, adjacent tooth portions have tooth slots therebetween, and the armature winding 12 is wound around the tooth portions. As known to those skilled in the art, each stator core 11 has a plurality of tooth portions, and tooth slots are formed between adjacent tooth portions. For the sake of convenience, the number of tooth portions will not be described in the following.

[0036] Specifically, each stator core 11 includes a first stator portion 111 and a second stator portion 112 connected to the first stator portion 111, i.e. one stator 10 is divided into two parts, and correspondingly, the first stator portion 111 includes first tooth portions 113 and first tooth slots 114, and adjacent first tooth portions 113 form first tooth slots 114. The second stator portion 112 includes second tooth portions 115 and second tooth slots 116, and adjacent second tooth portions 115 form second tooth slots 116. In other words, the tooth portions include first tooth portions 113 and second tooth portions 115, and the tooth slots include first tooth slots 114 and second tooth slots 116, first tooth slots 114 are formed between adjacent first tooth portions 113, and second tooth slots 116 are formed between adjacent second tooth portions 115. In the present application, the number of first tooth slots 114 is equal to the number of second tooth slots 116.

[0037] Further, the first tooth portion 113 includes a first end tooth 1131 and a plurality of first stator teeth 1132, which are spaced apart, and a first tooth groove 114 is formed between adjacent first stator teeth 1132 and between adjacent first stator teeth 1132 and the end tooth; the second tooth portion 115 includes a second end tooth 1151 and a plurality of second stator teeth 1152, which are spaced apart, and a second tooth groove 116 is formed between adjacent second stator teeth 1152 and between adjacent second stator teeth 1152 and the second end tooth 1151; the tooth width of the first stator tooth 1132 is equal to the tooth width of the second stator tooth 1152. It is worth mentioning that, for ease of description and explanation, a dividing line 13 is provided at the connection between the first stator portion 111 and the second stator portion 112, and the dividing line 13 is also the dividing line 13 between the first tooth groove 114 and the second tooth groove 116. The tooth width of the first stator tooth 1132 is set to be equal to the tooth width of the second stator tooth 1152 in order to avoid severe saturation of the stator core 11.

[0038] refer to Figure 1 , Figure 2 or Figure 3 As shown, the two stators are arranged opposite to each other and spaced apart, and the mover 20 is located between the two stators, meaning that the teeth of the two stators are arranged opposite to each other, and the mover 20 is located between two rows of teeth. Specifically, the first stator portion 111 of one stator core 11 is arranged opposite to the first stator portion 111 of the other stator core 11, and the second stator portion 112 of one stator core 11 is arranged opposite to the second stator portion 112 of the other stator core 11. Further, refer to... Figure 2 or Figure 3 As shown, the two stator cores 11 are centrally symmetrical about the mover core 21. (Refer to...) Figure 1 As shown, the two stator cores 11 are mirror-symmetric about the mover core 21.

[0039] An air gap exists between the stator 10 and the mover 20. The mover 20 includes a mover core 21 and multiple pairs of permanent magnets 22. The multiple pairs of permanent magnets 22 are respectively disposed on both sides of the mover core 21. The permanent magnets 22 on each side are evenly distributed at intervals along the length of the mover core 21, and adjacent permanent magnets 22 on each side have opposite magnetic properties. The number of slots in each stator 10 is equal to the number of effective magnetic poles of the permanent magnets 22 relative to the air gap. For simplicity, the number of slots will be used to describe the number of effective magnetic poles of the permanent magnets 22 relative to the air gap.

[0040] In other embodiments, the mover 20 can not include a mover core, the mover 20 including a plurality of spaced-apart permanent magnets 22, the plurality of permanent magnets 22 being arranged along the length direction of the stator core 11, and the magnetic poles of adjacent permanent magnets 22 being opposite. For the convenience of explanation and description, only the mover 20 with the mover core 21 is described hereinafter.

[0041] In order to enable the mover core 21 to reciprocate along the movement direction, the movement direction of the mover core 21 is the length direction of the mover core 21, which will not be distinguished hereinafter. The stator core 11 is divided into two parts, i.e. the first stator part 111 and the second stator part 112 described above, the number of the first tooth slots 114 in the first stator part 111 is equal to the number of the second tooth slots 116 in the second stator part 112, and both satisfy Z = 3n, where n is a positive integer greater than or equal to 1, Z represents the number of the first tooth slots 114 or the number of the second tooth slots 116, but the number of effective magnetic poles P1 corresponding to the first tooth slots 114 is not equal to the number of the first tooth slots 114, and the number of effective magnetic poles P2 corresponding to the second tooth slots 116 is also not equal to the number of the second tooth slots 116. Specifically, P1 = Z + k1 corresponding to the first tooth, and P2 = Z - k1 corresponding to the second tooth slot 116, where k1 is a positive integer greater than or equal to 1. In this way, the pole-slot matching relationship between the stator and the mover at the first stator part 111 corresponding to the stator core 11 is P1 poles Z slots (P1 is greater than Z). Correspondingly, the pole-slot matching relationship between the stator 10 and the mover 20 at the second stator part 112 corresponding to the stator core 11 is P2 poles Z slots (P2 is less than Z). Therefore, the mover core 21 can move relative to the first stator part 111 and the second stator part 112, thereby realizing the movement of the permanent magnet linear motor.

[0042] For the double-sided permanent magnet linear motor, P1 + P2 = 2Z, so that the number of tooth slots of each stator 10 is equal to the number of effective magnetic poles displayed by the permanent magnet 22 to the air gap, i.e. the pole-slot matching of the entire double-sided permanent magnet linear motor can be understood as the same pole and the same slot, and the permanent magnet linear motor can also work, so that the tooth slot force waveforms generated by the two stators 10 are staggered, the waveforms of the two are complementary, thereby weakening the influence of the tooth slot force fluctuation, i.e. reducing the thrust fluctuation, which is beneficial to improve the controllability and efficiency of the permanent magnet linear motor.

[0043] As shown in Figure 1 or Figure 2 or Figure 3 , the slot pitch of the first tooth slot 114 is τ1, τ1 = P1 / Z*τ p , the slot pitch of the second tooth slot 116 is τ2, τ2 = P2 / Z*τ p , and τ 1+ τ2 = 2*τ p , where τ p is the pole pitch.

[0044] Referring to Figure 1 shown, the two stators 10 are mirror symmetric about the mover core 21, and each pair of the permanent magnets 22 shows the same magnetic property. Specifically, along the length direction of the mover core 21, the permanent magnets 22 are arranged on both sides of the mover core 21 with an interval, and the two permanent magnets 22 at opposite positions on the two sides form a pair. In other words, along the length direction of the mover core 21, the permanent magnets 22 are in multiple pairs, and the two permanent magnets 22 in each pair are respectively arranged on the two sides of the mover core 21, and the adjacent permanent magnets 22 on each side of the mover core 21 have opposite magnetic properties.

[0045] Further, referring to Figure 1 and Figure 4 shown, when the two stators 10 are mirror symmetric about the mover core 21, in the two stators 10, the current direction of the armature winding 12 in one of the stators 10 is odd-symmetric about the mover core 21 with the current direction of the armature winding 12 in the other of the stators 10; the winding connection of the armature winding 12 in one of the stators 10 is odd-symmetric about the mover core 21 with the winding connection of the armature winding 12 in the other of the stators 10; and the phase sequence of the armature winding 12 in one of the stators 10 is odd-symmetric about the mover core 21 with the phase sequence of the armature winding 12 in the other of the stators 10.

[0046] Further, when the two stators 10 are mirror symmetric about the mover core 21, in any one of the stators 10, the current direction of the armature winding 12 in the first tooth slot 114 is odd-symmetric about the boundary line 13 between the first tooth slot 114 and the second tooth slot 116 with the current direction of the armature winding 12 in the second tooth slot 116; the winding connection of the armature winding 12 in the first tooth slot 114 is odd-symmetric about the boundary line 13 between the first tooth slot 114 and the second tooth slot 116 with the winding connection of the armature winding 12 in the second tooth slot 116; and the phase sequence of the armature winding 12 in the first tooth slot 114 is odd-symmetric about the boundary line 13 between the first tooth slot 114 and the second tooth slot 116 with the phase sequence of the armature winding 12 in the second tooth slot 116.

[0047] It is worth mentioning that the winding connection here refers to the winding connection rule, and can also be understood as the winding connection mode.

[0048] Referring to Figure 2 shown, the two stators 10 are mirror symmetric about the mover core 21, and each pair of the permanent magnets 22 shows the same magnetic property. Specifically, along the length direction of the mover core 21, the permanent magnets 22 are arranged on both sides of the mover core 21 with an interval, and the two permanent magnets 22 at opposite positions on the two sides form a pair. In other words, along the length direction of the mover core 21, the permanent magnets 22 are in multiple pairs, and the two permanent magnets 22 in each pair are respectively arranged on the two sides of the mover core 21, and the adjacent permanent magnets 22 on each side of the mover core 21 have opposite magnetic properties. Figure 3As shown in FIG. 1, the two stators 10 are symmetric about the center of the mover iron core 21, and the magnetic properties of the two permanent magnets 22 shown are opposite. Specifically, along the length direction of the mover iron core 21, the permanent magnets 22 are arranged at intervals on both sides of the mover iron core 21, and the two permanent magnets 22 at opposite positions on both sides are a pair. In other words, along the length direction of the mover iron core 21, the permanent magnets 22 are in multiple pairs, and the two permanent magnets 22 in each pair are respectively arranged on both sides of the mover iron core 21, and the magnetic properties of the adjacent permanent magnets 22 on each side of the mover iron core 21 are opposite.

[0049] Further, as shown in FIG. 1, when the two stators 10 are symmetric about the center of the mover iron core 21, the winding connections of the A-phase winding in the armature winding 12 are odd-symmetric about the mover iron core 21, one of the winding connections of the B-phase winding is odd-symmetric with the winding connection of the C-phase winding, and one of the winding connections of the C-phase winding is odd-symmetric with the winding connection of the B-phase winding. Figure 2 Figure 3 Figure 5 Further, as shown in FIG. 1, when the two stators 10 are symmetric about the center of the mover iron core 21, the current direction of the armature winding 12 in the first tooth slot 114 is odd-symmetric with the current direction of the armature winding 12 in the second tooth slot 116 about the boundary line 13 between the first tooth slot 114 and the second tooth slot 116; the winding connection of the armature winding 12 in the first tooth slot 114 is odd-symmetric with the winding connection of the armature winding 12 in the second tooth slot 116 about the boundary line 13 between the first tooth slot 114 and the second tooth slot 116; and the phase sequence of the armature winding 12 in the first tooth slot 114 is odd-symmetric with the phase sequence of the armature winding 12 in the second tooth slot 116 about the boundary line 13 between the first tooth slot 114 and the second tooth slot 116. It is worth noting that the winding connection here refers to the winding connection rule, which can also be understood as the winding connection mode.

[0050] Further, as shown in FIG. 1, when the two stators 10 are symmetric about the center of the mover iron core 21, the winding connections of the A-phase winding in the armature winding 12 are odd-symmetric about the mover iron core 21, one of the winding connections of the B-phase winding is odd-symmetric with the winding connection of the C-phase winding, and one of the winding connections of the C-phase winding is odd-symmetric with the winding connection of the B-phase winding.

[0051] Further, as shown in FIG. 1, when the two stators 10 are symmetric about the center of the mover iron core 21, the winding connections of the A-phase winding in the armature winding 12 are odd-symmetric about the mover iron core 21, one of the winding connections of the B-phase winding is odd-symmetric with the winding connection of the C-phase winding, and one of the winding connections of the C-phase winding is odd-symmetric with the winding connection of the B-phase winding. Figures 1 to 3 As shown in FIG. 1, the first stator slot of the permanent magnet linear motor provided by the present application is 6, and the number of the second stator slot is 6, so as to form a 12-pole 12-slot permanent magnet linear motor. In other embodiments, the number of the first stator slot and the number of the second stator slot can be other numbers, such as 9 or 12, which will not be described one by one here.

[0052] ​​For the convenience of explanation and interpretation of the scheme of the present application, the number of first stator slots and the number of second stator slots are taken as 6 for example, referring to the drawings, which are all embodiments of 12-pole 12-slot permanent magnet linear motor combined by 7-pole 6-slot and 5-pole 6-slot. Assuming that the first stator part 111 of the stator 10 has 6 first tooth slots 114, and the 6 first tooth slots 114 correspond to 7 corresponding to 7-pole 6-slot, the second stator part 112 of the stator 10 corresponds to 5-pole 6-slot, the length of the motor is different, because the tooth width of the tooth part is the same and the number of tooth slots is the same, so the same-pole same-slot motor contains two kinds of tooth slots (first tooth slot 114 and second tooth slot 116), the corresponding tooth slot in 7-pole 6-slot is first tooth slot 114, and the corresponding tooth slot in 5-pole 6-slot is second tooth slot 116. Set the pole pitch of the motor as τ p , according to the calculation formula of slot pitch, the slot pitch of the first stator tooth 1132 slot is τ1=P1 / Z*τ p =7 / 6*τ p , the slot pitch of the second stator tooth 1152 slot is τ2=P2 / Z*τ p =5 / 6*τ p , and τ1+τ2=2*τ p . In each unit motor, the tooth slots are uniformly distributed by the calculated slot pitch, and at the same time, in order to prevent serious saturation of the stator core 11, the tooth width of the first stator tooth 1132 and the second stator tooth 1152 is the same.

[0053] From Figures 1 to 3 , it can be seen that the double-sided stator 10 has two arrangements, including mirror symmetry along the mover core 21 and center symmetry. Each side stator 10 is a 12-pole 12-slot combined by 7-pole 6-slot and 5-pole 6-slot. It is defined that in the direction of motor movement, it is front, and vice versa. If the structure of the single-sided stator 10 is 7-pole 6-slot in front and 5-pole 6-slot in back, if the double-sided stator 10 is mirror symmetric about the mover core 21, then the combination order of each side stator 10 is the same, that is, both sides are 12-pole 12-slot structure combined by 7-pole 6-slot in front and 5-pole 6-slot in back; if the double-sided stator 10 is center symmetric about the mover core 21, then the combination order of each side stator 10 is opposite, that is, one side stator 10 is 12-pole 12-slot structure combined by 7-pole 6-slot in front and 5-pole 6-slot in back, and the other side is 12-pole 12-slot structure combined by 5-pole 6-slot in front and 7-pole 6-slot in back.

[0054] It is worth mentioning that the winding connection of the armature winding 12 is also closely related to the symmetrical structure of the double-sided stator 10. Taking a 12-pole 12-slot double-sided permanent magnet linear motor as an example, it is a combination of 7-pole 6-slot and 5-pole 6-slot motors, and the mechanical positions of the six coils are the same, but the pole numbers are 5 and 7 respectively, so the phase angles of the electromotive force are not the same, resulting in different phases and different phase sequences of the motor coils in the two cases. The electromotive force star chart is divided into 60-degree phase bands or 120-degree phase bands, and the winding distribution of slots 1-12 can be obtained. When the double-sided stator 10 is mirror-symmetric about the mover iron core 21, the movement directions of the magnetic motive forces on both sides of the stator 10 are the same, the rotation directions on the magnetic motive force star chart are the same, and the winding connection rules are also the same, as shown in Figure 4 When the double-sided stator 10 is center-symmetric about the mover iron core 21, if the armature winding 12 is divided in the same way, the movement directions of the magnetic motive forces generated by the armature windings 12 on the upper and lower sides are opposite, so the rotation direction on the magnetic motive force star chart of the other side is opposite, as shown in Figure 5 That is, the connection rule of the B-phase winding on one side is odd-symmetric with the C-phase winding on the other side, and the connection rule of the C-phase winding on one side is odd-symmetric with the B-phase winding on the other side.

[0055] As shown in Figures 1 to 3 The stator 10 is movably arranged relative to the length direction of the mover, so that the double-sided stators are misaligned to reduce the positioning force. Compared with the prior art, the end portions of the two stators 10 in the prior art are aligned or flush, while in the embodiment of the present application, in order to reduce the positioning force of the permanent magnet linear motor, since the positioning forces on both sides are approximately sinusoidal, the double-sided stators 10 are misaligned, that is, any one of the two stators 10 can be relatively translated by a distance s along the movement direction of the motor, so that the end portions of the two stators are misaligned rather than aligned, and the misalignment distance is s, so that the phase difference of the sinusoidal function is used to reduce the cogging force of the linear motor to reduce the thrust fluctuation.

[0056] The technical features of the above-described embodiments can be combined in any manner. In order to make the description concise, not all possible combinations of the technical features in the above-described embodiments are described, but as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the present disclosure.

[0057] The above-described embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application. Therefore, the protection scope of the present application patent should be subject to the appended claims.

Claims

1. A flat-type homopolar and slot-sharing permanent magnet linear motor, characterized by, The application relates to a motor comprising: two oppositely arranged stators, each of which comprises a stator core and an armature winding, each of the stator cores comprises tooth portions and tooth slots, the tooth slots are arranged between adjacent tooth portions, and the armature winding is arranged around the tooth portions; a rotor arranged between the two stators and having air gaps between the stators and the rotor, the rotor comprises a plurality of permanent magnets arranged at intervals along the length direction of the stator core, and adjacent permanent magnets have opposite magnetism; wherein the number of the tooth slots of each stator is equal to the effective magnetic pole number of the permanent magnets for the air gap; the tooth slots comprise first tooth slots and second tooth slots, the number of the first tooth slots is equal to the number of the second tooth slots, and both satisfy Z=3n, wherein n is a positive integer greater than or equal to 1, Z represents the number of the first tooth slots or the number of the second tooth slots; the effective magnetic pole number P1 of the permanent magnets corresponding to the first tooth slots for the air gap satisfies P1=Z+k1, the effective magnetic pole number P2 of the permanent magnets corresponding to the second tooth slots for the air gap satisfies P2=Z-k1, and k1 is a positive integer greater than or equal to 1; The first tooth slot has a slot pitch τ1, τ1=P1 / Z*τ p , the second tooth slot has a slot pitch τ2, τ2=P2 / Z*τ p , and τ 1+ τ2=2*τ p , wherein τ p is a pole pitch.

2. The flat-type homopolar slotless permanent magnet linear motor according to claim 1, characterized by a rotor core and a plurality of pairs of permanent magnets, the pairs of permanent magnets are arranged on both sides of the rotor core respectively, the permanent magnets on each side are arranged at intervals along the length direction of the rotor core, and adjacent permanent magnets on each side have opposite magnetism.

3. The flat-type homopolar slotless permanent magnet linear motor according to claim 1 or 2, characterized by each of the stators comprises a first stator portion and a second stator portion connected with the first stator portion, the first stator portion comprises first tooth portions and first tooth slots arranged between adjacent first tooth portions, and the second stator portion comprises second tooth portions and second tooth slots arranged between adjacent second tooth portions, the number of the first tooth slots is equal to the number of the second tooth slots; the first tooth portions comprise first end teeth and a plurality of first stator teeth, the first stator teeth are arranged at intervals, and the first tooth slots are formed between adjacent first stator teeth and between the first stator teeth and the end teeth; the second tooth portions comprise second end teeth and a plurality of second stator teeth, the second stator teeth are arranged at intervals, and the second tooth slots are formed between adjacent second stator teeth and between the second stator teeth and the end teeth; the tooth width of the first stator teeth is equal to the tooth width of the second stator teeth.

4. The flat-type homopolar slotless permanent magnet linear motor according to claim 2, characterized by in any of the stators, the current direction of the armature winding in the first tooth slot is odd-symmetrical about the boundary line between the first tooth slot and the second tooth slot relative to the current direction of the armature winding in the second tooth slot; the winding connection of the armature winding in the first tooth slot is odd-symmetrical about the boundary line between the first tooth slot and the second tooth slot relative to the winding connection of the armature winding in the second tooth slot; the phase sequence of the armature winding in the first tooth slot is odd-symmetrical about the boundary line between the first tooth slot and the second tooth slot relative to the phase sequence of the armature winding in the second tooth slot.

5. The flat-type homopolar slotless permanent magnet linear motor according to claim 2, characterized by the two stators are arranged in mirror symmetry about the rotor core, and each pair of permanent magnets has the same magnetism.

6. The flat-type homopolar slotless permanent magnet linear motor according to claim 2, characterized by The two stators are symmetrically arranged about the center of the mover iron core, and the magnetic properties of each pair of permanent magnets are the same or opposite.

7. The flat-type homopolar slotless permanent magnet linear motor according to claim 5, characterized by The current direction of the armature winding in one of the stators is odd-symmetric about the mover iron core with the current direction of the armature winding in the other stator. The winding connection of the armature winding in one of the stators is odd-symmetric about the mover iron core with the winding connection of the armature winding in the other stator. The phase sequence of the armature winding in one of the stators is odd-symmetric about the mover iron core with the phase sequence of the armature winding in the other stator.

8. The flat-type homopolar slotless permanent magnet linear motor according to claim 6, characterized by The winding connection of the A-phase winding in the armature winding is odd-symmetric about the mover iron core with the winding connection of the B-phase winding in one of the stators and the winding connection of the C-phase winding in the other stator; the winding connection of the C-phase winding in one of the stators is odd-symmetric about the mover iron core with the winding connection of the B-phase winding in the other stator.

9. The flat-type homopolar slotless permanent magnet linear motor according to claim 1, characterized by The stators are movably arranged relative to the length direction of the mover, so that the two stators are misaligned on both sides.

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