Low thrust fluctuation modular primary winding segmented linear motor

Abstract

The present invention provides a low thrust fluctuation modular primary winding segmented permanent magnet linear motor, including a secondary component and a primary component, at least one pair of secondary components are provided, and a permanent magnet with alternating polarity is pasted on the secondary core; the primary component adopts a multi-module segmented structure, characterized in that: each primary component is provided with matching sub-laps and mother-laps at both ends, two adjacent primary components are assembled and combined by sub-laps and mother-laps, and the width of the end coils at the matching positions of the sub-laps and mother-laps in the primary component is less than or equal to the width of the coils at the middle position. The primary component of the present invention adopts a splicing design of the primary component sub-laps and mother-laps, which can reduce the influence of the gap caused by the processing and assembly of the primary winding, and reduce the thrust fluctuation caused by the gap compared to the traditional motor, thereby achieving a significant reduction in the speed fluctuation of the mover and an improvement in the position control accuracy.

Description

Technical Field

[0001] The invention belongs to the technical field of motors, and in particular relates to a low-thrust fluctuation modular primary winding segmented permanent magnet linear motor. Background Art

[0002] Primary winding segmented linear motors are widely needed in the fields of automated production lines, logistics and transportation. Permanent magnet linear motors include secondary components and primary components. The secondary component includes two secondaries, which are symmetrically arranged on both sides of the primary component; permanent magnets with alternating polarity are attached to the secondary core. The primary component includes upper and lower primary windings, which are divided into two types: with a magnetic core and without a magnetic core. The magnetic core with a magnetic core is located between the upper and lower primary windings. Generally, the secondary component serves as a mover and the primary as a stator. The stator usually includes a linear stator and an arc stator, and can be extended by splicing.

[0003] The traditional primary winding segmented linear motor uses enameled wire winding in the core slot. This structure has complex processing technology, difficult assembly and high cost. Moreover, when the stroke is long, there is an installation gap between the primary components, resulting in large fluctuations in the motor thrust. Summary of the invention

[0004] In order to solve the shortcomings of traditional long-stroke primary winding segmented linear motors, the present invention provides a low-thrust fluctuation modular primary winding segmented permanent magnet linear motor.

[0005] The specific technical solutions of the present invention are as follows:

[0006] A low thrust fluctuation modular primary winding segmented permanent magnet linear motor comprises a secondary assembly and a primary assembly. The secondary assembly is provided with at least one pair of secondary assemblies, and a permanent magnet with alternating polarity is pasted on the secondary core. The primary assembly adopts a multi-module segmented structure, and each primary assembly is provided with a matching sub-lap edge and a female lap edge at both ends, and two adjacent primary assemblies are assembled and combined through the sub-lap edge and the female lap edge.

[0007] The width of the end coil at the matching position of the sub-lap and the mother-lap in the primary assembly is less than or equal to the width of the coil at the middle position;

[0008] The coils of each layer of primary winding in the primary component have the same phase sequence and the same or similar phase angle.

[0009] The present invention is further designed to:

[0010] A coil of a phase winding is arranged at the male and female overlap positions of the primary component.

[0011] The present invention is further designed to:

[0012] The relationship between the width of the coil and the width of the gap satisfies: (bs2+q s )=bs1

[0013] The width of the gap between adjacent primary components is q s , the width of the end coil at the overlap position of the sub- and mother-side is bs2, the width of the middle coil is bs1, bs2≤bs1;

[0014] The gap between adjacent primary components is q s Including mechanical clearance q s1 and the physical gap q s2 ,q s =q s1 +q s2 , 0≤q s1 , 0 s2 .

[0015] The present invention is further designed to:

[0016] The primary component adopts a coil structure with an iron core, including a primary iron core located in the middle and upper and lower primary windings. The sub- and mother lap structures at the ends of the primary component adopt upper and lower lap structures, including: an upper lap with a lower notch formed by the upper protrusion of the primary iron core and the protrusion of the coil at the end of the upper primary winding; and a lower lap with an upper notch formed by the lower protrusion of the primary iron core and the protrusion of the coil at the end of the lower primary winding.

[0017] The primary core in the middle is made of two overlapping rectangles with gaps on both sides.

[0018] The present invention is further designed to:

[0019] The primary component adopts a coreless coil structure, including upper and lower primary windings. The sub- and mother lap structures at the ends of the primary component adopt upper and lower lap structures, including: an upper lap formed by the protrusion of the coil at the end of the upper primary winding, and a lower lap formed by the protrusion of the coil at the end of the lower primary winding.

[0020] The present invention is further designed to:

[0021] The primary component adopts a coreless coil structure, including three layers of primary windings: upper, middle and lower. The sub-lap and mother-lap structures at the ends of the primary component include: a sub-lap formed by the protruding coil at the end of the middle primary winding, and a mother-lap formed by the protruding coils at the end of the upper and lower primary windings.

[0022] The present invention is further designed to:

[0023] ​The primary component adopts a coreless coil structure, including four layers of primary windings. The sub-lap and mother-lap structures at the ends of the primary component include: a sub-lap formed by the protruding coils at the ends of the second and fourth layers of primary windings, and a mother-lap formed by the protruding coils at the ends of the first and third layers of primary windings.

[0024] The present invention is further designed to:

[0025] The secondary component is used as a mover, and three coils or multiple coil units form a three-phase or multi-phase motor, and each coil has an independent segmented driver; when the mover moves to a certain coil, the drive controller corresponding to the coil selects the coil in advance, and when leaving the coil, the corresponding driver closes the coil.

[0026] The present invention is further designed to:

[0027] The primary winding is processed by PCB technology, the distance between the movers can be very small, and the capacity (number) of the movers can be expanded.

[0028] The present invention is further designed to:

[0029] The primary component is in the form of a straight line, an arc, or a closed structure formed by mixing straight lines and arcs.

[0030] The primary component is in an arc shape, the electrical angle occupied by the side coil located in the recess of the primary core is θ1, and the electrical angle occupied by the middle coil is θ2, wherein θ1≤θ2.

[0031] Compared with the prior art, the present invention has the following advantages:

[0032] 1. The primary component of the permanent magnet linear motor of the present invention adopts a primary component overlap splicing design, which can reduce the impact of the gap caused by the primary winding processing and assembly. Compared with traditional motors, the thrust fluctuation caused by the gap is reduced, thereby achieving a significant reduction in the speed fluctuation of the mover and an improvement in the position control accuracy.

[0033] 2. In the permanent magnet linear motor of the present invention, the width of the end coils at the overlapping positions of adjacent primary components is less than or equal to the width of the middle coils, which avoids wasting space, reduces the difficulty of processing and assembly, and is beneficial to reducing thrust fluctuations. For the solution in which the width of the end coils is equal to the width of the middle coils, the thrust fluctuations are reduced by more than 52% compared with the traditional motors; for the solution in which the width of the end coils is less than the width of the middle coils, the thrust fluctuations are reduced by more than 73% compared with the traditional motors.

[0034] 3. Compared with the traditional coreless permanent magnet synchronous linear motor, the low thrust fluctuation modular primary winding segmented permanent magnet linear motor of the present invention can conveniently expand the motor stroke through the primary component structure design. Through the segmented control design, the loss can be minimized.

[0035] 4. Compared with the traditional coreless permanent magnet synchronous linear motor, the low thrust fluctuation modular primary winding segmented permanent magnet linear motor of the present invention has a simple primary process, does not require complicated primary winding winding, shaping and other processes, and has low assembly difficulty, thereby improving performance and reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a structural schematic diagram of a low thrust fluctuation modular primary winding segmented permanent magnet linear motor of the present invention;

[0037] Figure 2 It is a structural schematic diagram of the primary core;

[0038] Figure 3 It is a structural schematic diagram of the upper armature winding module;

[0039] Figure 4 It is a structural schematic diagram of the lower armature winding module;

[0040] Figure 5 A schematic diagram of the mechanical gap and physical gap structure between primary components;

[0041] Figure 6 This is a schematic structural diagram of a rectangular primary core of Embodiment 3;

[0042] Figure 7 This is a structural schematic diagram of a coreless permanent magnet synchronous linear motor according to Embodiment 4;

[0043] Figure 8 It is a structural schematic diagram of a coreless permanent magnet synchronous linear motor with three-layer printed windings according to Embodiment 5;

[0044] Fig. 9 This is a structural schematic diagram of a coreless permanent magnet synchronous linear motor with four layers of printed windings according to Embodiment 6;

[0045] Fig.10 This is a schematic structural diagram of a low thrust fluctuation modular primary winding segmented permanent magnet linear motor with multiple movers according to Embodiment 9;

[0046] Fig.11 This is a schematic structural diagram of an arc-shaped primary assembly of Embodiment 10;

[0047] Fig.12 It is a structural schematic diagram of an arc-shaped primary core module of Embodiment 10;

[0048] Fig.13 It is a structural schematic diagram of an arc-shaped armature winding module of Embodiment 10;

[0049] Fig.14 It is a schematic diagram of the structure of a traditional modular primary winding segmented permanent magnet linear motor;

[0050] Fig.15 Comparison diagram of motor output thrust curve calculated for simulation example 1;

[0051] Fig.16 It is a schematic diagram of the structure of a traditional modular primary winding segmented permanent magnet linear motor;

[0052] Fig.17 Comparison chart of motor output thrust curve calculated for simulation example 2.

[0053] In the figure, 1: secondary component; 1-1: permanent magnet; 1-2: secondary core; 2: air gap; 3: primary component; 3-1: magnetic core; 3-1-1: upper protrusion; 3-1-2: lower protrusion; 3-1-3: notch; 3-2: primary winding; 3-2-1: first coil of upper winding; 3-2-2: second coil of upper winding; 3-2-3: third coil of upper winding; 3-2-4: first coil of lower winding; 3-2-5: second coil of lower winding; 3-2-6: third coil of lower winding; 3-3: physical gap at the end of winding; 3-2-7: end coil; 3-2-8: middle coil; 4: mechanical gap. DETAILED DESCRIPTION

[0054] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0055] Embodiment 1:

[0056] The present invention discloses a low thrust fluctuation modular primary winding segmented permanent magnet linear motor, comprising a secondary component and a primary component.

[0057] At least one pair of secondary components is arranged, and permanent magnets with alternating polarity are pasted on the secondary core; the primary component adopts a multi-module segmented structure, and each primary component is provided with matching sub-laps and mother-laps at both ends. The two adjacent primary components are assembled and combined through the sub-laps and mother-laps, which can reduce the influence of the gap caused by the primary winding processing and assembly, reduce the thrust fluctuation caused by the gap, and achieve a significant reduction in the mover speed fluctuation and an improvement in the position control accuracy.

[0058] The width of the end coils at the matching positions of the sub-lap and the mother-lap in the primary assembly is smaller than the width of the coils in the middle position to avoid wasting space, reduce the difficulty of processing and assembly, and help reduce thrust fluctuations.

[0059] The coils of each layer of primary winding in the primary component have the same phase sequence and the same or similar phase angle.

[0060] Embodiment 2:

[0061] like Figure 1-Figure 2As shown, this embodiment provides a low thrust fluctuation modular primary winding segmented permanent magnet linear motor, including a secondary component and a primary component. The secondary component includes one or more groups, each secondary component includes two secondary cores 1-2, and the secondary cores 1-2 are attached with permanent magnets 1-2 with alternating polarity. The primary component is spliced ​​by multiple modular segmented primary components 3, and two adjacent primary components are assembled by overlapping the child and the mother. An air gap 2 is formed between two adjacent primary components 3.

[0062] Each primary assembly 3 includes a primary core 3-1 and a primary winding 3-2. The sub- and mother-side lap structures at the ends of the primary assembly can be upper and lower lap structures. The upper lap is a lower notch structure formed by the upper protrusion 3-1-1 of the primary core and the upper primary winding end coil; the lower lap is an upper notch structure formed by the lower protrusion 3-1-2 of the permeable core and the lower primary winding end coil.

[0063] like Figure 3-Figure 5 As shown, the primary winding 3-2 is made by PCB technology and is provided with three-phase winding coils. The coils in the upper and lower layers of primary winding 3-2 have the same phase sequence. The first coil 3-2-1 of the upper winding, the second coil 3-2-2 of the upper winding, and the third coil 3-2-3 of the upper winding are A, B, and C phase coils respectively, and the other coils are extended cyclically according to the phase sequence to form ABCABC... coils. The first coil 3-2-4 of the lower winding, the second coil 3-2-5 of the lower winding, and the third coil 3-2-6 of the lower winding are B, C, and A coils respectively, and the other coils are cyclically extended according to the phase sequence to form BCABCA... coils. The second coil of the upper winding is opposite to the first coil of the lower winding, and their phases are the same, both of which are B coils. The first coil 3-2-1 of the upper winding has the same phase as the last coil of the previous primary component 3, both of which are A coils. The upper and lower coils at relative positions of the upper and lower primary windings 3-2 have the same or similar phase angles.

[0064] The upper and lower primary windings can be connected in series or in parallel.

[0065] There is a mechanical gap 4 between adjacent primary components to facilitate installation or setting of protective structures. The width of the mechanical gap is q s1 , 0≤q s1 The primary winding 3-2 is realized by PCB technology, and there is a physical gap. The left end winding and the right end winding both have a physical gap 3-3 at the winding edge. The physical gap q s2 , 0 s2 . The gap between adjacent primary components q s Including mechanical clearance and physical clearance, that is, q s =q s1 +q s2 . ​

[0066] Considering the influence of the gap, the width of the end coils at the upper and lower overlap positions of the primary core is bs2, the width of the middle coil is bs1, and the relationship between the coil width and the gap width is (bs2+q s )=bs1. The width of the end coils at the upper and lower overlapping positions of the primary component is less than or equal to the width bs1 of an intermediate coil, and in this example is preferably less than the width of the intermediate coil.

[0067] The above-mentioned primary component has a simple process, low difficulty in processing and assembly, and low cost, and can easily expand the stroke of the motor. The overlap design of the upper and lower overlaps of the primary component can reduce the impact of the gap caused by winding processing and primary assembly, and reduce the thrust fluctuation caused by the gap by more than 73%, thereby achieving a significant reduction in the speed fluctuation of the mover and an improvement in the position control accuracy.

[0068] Embodiment three:

[0069] like Figure 6 As shown, a further design of this embodiment is that the primary core in the middle of the primary assembly is formed by overlapping two rectangular pieces, with gaps on both sides, and the gaps and the end wire ends form upper and lower overlaps.

[0070] Embodiment 4:

[0071] like Figure 7 As shown, a further design of this embodiment is that the primary component 3 adopts a coreless coil structure, including upper and lower layers of primary windings, and the sub- and mother-lap structures at the ends of the primary component include: an upper lap formed by the protrusion of the coil at the end of the upper primary winding, and a lower lap formed by the protrusion of the coil at the end of the lower primary winding.

[0072] Embodiment five:

[0073] like Figure 8 As shown, this embodiment is further designed as a coreless permanent magnet synchronous linear motor with three layers of printed windings, the primary assembly adopts a coreless coil structure, including upper, middle and lower primary windings, and the sub- and female lap structures at the ends of the primary assembly include: a sub-lap formed by the protrusion of the coil at the end of the middle primary winding, and a female lap formed by the protrusion of the coil at the end of the upper and lower primary windings. This embodiment adopts a coreless design, which can achieve lower thrust fluctuations. Figure 8 This is a schematic diagram of the structure of Embodiment 5;

[0074] Embodiment six:

[0075] like Fig. 9As shown, the further design of this embodiment is a coreless permanent magnet synchronous linear motor with four layers of printed windings, the primary assembly adopts a coreless coil structure, including four layers of primary windings, and the sub-lap and female lap structures at the ends of the primary assembly include: a sub-lap formed by the protrusion of the coils at the ends of the second and fourth layers of primary windings, and a female lap formed by the protrusion of the coils at the ends of the first and third layers of primary windings. This embodiment adopts a coreless design, which can achieve lower thrust fluctuations.

[0076] Embodiment seven:

[0077] The further design of this example is that the secondary component of the low thrust fluctuation modular primary winding segmented permanent magnet linear motor is used as a mover, and three or more coils are coupled to form a three-phase or multi-phase motor. Each coil is connected to a segmented driver. When the mover moves to the corresponding coil, the drive controller selects the coil in advance, and after leaving the corresponding coil, the driver turns off the coil. This embodiment achieves loss reduction by controlling the coil in segments.

[0078] The present invention adopts a single coil switching mode, which has several effects:

[0079] First, the length of the primary winding can be shortened to the greatest extent. For example, for a three-phase unit motor consisting of two poles and three coils, when the effective length of the rotor corresponds to three coils, at least four coils need to be energized at any time. In the traditional three-phase coil switching mode, at least two unit motors, that is, six coils need to be energized at any time, which helps to minimize energy consumption.

[0080] Second, when applied to multiple mover systems, the spacing between movers of the present invention can be minimized. Theoretically, the two movers are separated by at least one coil, and for the traditional three-phase coil switching mode, the two movers are separated by at least one complete three-phase coil, that is, at least three coils in the middle. Therefore, within a certain length, the present invention can make the mover capacity larger. In application, the space length of the motor can be shortened and the cost can be saved. The multi-motor linear motor system based on this scheme is used for material transmission on the automated production line. Compared with the traditional belt / chain transmission system, it is conducive to low-carbon production and realizes the arrangement of more workstations within a certain space, thereby significantly shortening the length of the production line.

[0081] Embodiment eight:

[0082] The further design of this embodiment is that the secondary component of the low thrust fluctuation modular primary winding segmented permanent magnet linear motor is used as a mover, coupled with one or more coil units, each coil unit has an independent segmented driver, when the mover moves to the corresponding coil unit, the drive controller selects the coil unit in advance, and after leaving the corresponding coil unit, the driver turns off the coil unit. This embodiment minimizes the loss by segmentally controlling the minimum coil unit.

[0083] Embodiment nine:

[0084] like Fig.10 As shown, this example is further designed on the basis of the third embodiment in that the low thrust fluctuation modular primary winding segmented permanent magnet linear motor has multiple secondary components, and the primary component as the stator can be divided into n segments, which are spliced ​​together. Multiple secondary components form n movers (n is a positive integer, and n≥2), and the movers 5-1, movers 5-2...motor 5-n can operate independently, in groups, synchronously or asynchronously.

[0085] Embodiment ten:

[0086] like Figure 11-13 As shown, the further design of this embodiment is that the primary component 3 of the low thrust fluctuation modular primary winding segmented permanent magnet linear motor can be arc-shaped, and the primary component 3 includes a primary core 3-1 and a primary winding 3-2. The primary core 3-1 is composed of two layers of cores, and the first primary core end 3-1-1 and the second primary core end 3-1-2 form upper and lower overlaps. The arc-shaped primary winding 3-2 is respectively located above and below the primary core 3-1. The coils in the upper and lower layers of the primary winding 3-2 have the same phase sequence. The same, both are A coils. The upper and lower coils in the relative position of the upper and lower layers of the primary winding 3-2 have the same or similar phase angles. The upper and lower layers of the armature windings can be connected in series or in parallel. There can be a mechanical gap between adjacent primary components. The primary winding 3-2 is realized by PCB technology, and there is a physical gap. Considering the influence of the gap, the electrical angle occupied by the end coils 3-3-7 located at the upper and lower overlap positions of the arc-shaped primary core is θ1, and the electrical angle occupied by the middle coil 3-3-8 of the arc-shaped primary winding is θ2, θ1≤θ2.

[0087] Simulation Example 1

[0088] The following is a comparative simulation experiment of the low thrust fluctuation modular primary winding segmented permanent magnet linear motor proposed by the present invention and the traditional modular primary winding segmented permanent magnet linear motor. Figure 1 It is a structural schematic diagram of a low thrust fluctuation modular primary winding segmented permanent magnet linear motor of the present invention; Fig.14This is a schematic diagram of the structure of a traditional modular primary winding segmented permanent magnet linear motor. The primary has an iron core yoke, and the segmented primary components adopt a flat-head docking structure. The simulation experiment calculates the motor output thrust curve comparison. Fig.15 .

[0089] The primary components of the motors all adopt a core yoke and toothless structure. The three motors have the same secondary structure and size parameters. The primary windings all adopt a fractional slot concentrated winding structure. The specific electromagnetic and structural parameters of the traditional motor are shown in Table 1, which is referred to as Motor 1. Different from the structure of the traditional winding segmented permanent magnet linear motor, the primary core of the low thrust fluctuation modular primary winding segmented permanent magnet linear motor of the present invention adopts the primary component proposed in Example 2, and the ends are provided with upper and lower overlaps and connected by overlapping. Among them, the width of the end coil at the overlapping position of Motor 2 is the same as the width of the middle coil, and the width of the end coil and the middle coil are both 15mm. The width of the end coil at the overlapping position of Motor 3 is 14mm, the width of the middle coil is 15mm, and the relationship between the width of the coil and the width of the gap satisfies (bs2+q s ) = bs1, the width of the gap between adjacent primary components is q s The width of the gap is 1mm. The width of the end coils at the upper and lower overlap positions is bs2, the width of the middle coil is bs1, and the gap between adjacent primary components is q s Including mechanical gap and physical gap, the specific electromagnetic and structural parameters are shown in Table 2.

[0090] Table 1 Electromagnetic and structural parameters of conventional winding segmented permanent magnet linear motor

[0091] Unit motor pole number 5 Unit motor slot number (virtual slot) 6 Permanent magnet single side thickness 3.5mm Permanent magnet width 6.8mm Permanent magnet material N48SH Core material DW315-50 Single side air gap length 1mm Pole distance 9mm Secondary core thickness 9mm Radial length 35mm Middle coil width 15mm Slotless coil thickness (single side) 2.4mm Primary yoke thickness 3mm Number of turns of a single coil 56 Current RMS 4.5A Number of parallel branches 1 Mechanical gap width 1mm Physical clearance at winding ends 0.5mm

[0092] Table 2 Low thrust fluctuation modular primary winding segmented permanent magnet linear motor

[0093]

[0094] The two-dimensional finite element electromagnetic simulation calculations of the above three motor structures are performed to obtain the thrust waveform curves of the motor when the mover passes through the gap at the joint of the primary component under the same load conditions, as shown in Fig.15 .

[0095] As can be seen from the figure, for motor 1, when the mover passes through the modular primary joint, the thrust fluctuation obviously increases first and then decreases. The peak-to-peak value of the thrust fluctuation is 13.31N. The average thrust is 23.48N during the entire operation stage, and the thrust fluctuation rate is 28.34%.

[0096] For motor 2, when the mover passes through the modular primary joint, the peak-to-peak value of thrust fluctuation is 6.36N, the average thrust is 24.83N during the entire operation stage, and the thrust fluctuation rate is 12.81%.

[0097] Motor 3, the low thrust fluctuation modular primary winding segmented permanent magnet linear motor proposed by the present invention, the width of the coil at the end of the primary component is less than the width of the middle coil, and the relationship between the width of the coil and the width of the gap satisfies: (bs2+qs)=bs1, when the mover passes through the modular primary joint, the peak-to-peak value of the thrust fluctuation is 3.56N, the average thrust in the entire operation stage is 24.15N, and the thrust fluctuation rate is 7.37%. Wherein the thrust fluctuation rate = peak-to-peak value of thrust / 2 / average thrust × 100%.

[0098] It can be seen from the above simulation experiments that, compared with the traditional modular primary winding segmented permanent magnet linear motor, the low thrust fluctuation modular primary winding segmented permanent magnet linear motor of the present invention overcomes the problem of large thrust fluctuation when the traditional mover runs to the joint of the primary component.

[0099] Motor 2 adopts a solution in which the width of the end coil is equal to the width of the middle coil, which can reduce the thrust fluctuation from 13.31N to 6.36N, which is 52% lower than the thrust fluctuation of conventional motor 1.

[0100] The relationship between the width of the coil and the width of the gap used in motor 3 satisfies (bs2+q s The design scheme with )=bs1 has the best effect. Compared with the traditional motor 1, the thrust fluctuation rate is reduced by 73.99%, and the average thrust is slightly improved, which is beneficial to reduce the speed fluctuation of the mover and improve the control accuracy of the mover.

[0101] Simulation Example 2

[0102] A comparative simulation experiment was conducted on the low thrust fluctuation modular primary winding segmented permanent magnet linear motor of the present invention and the traditional modular primary winding segmented permanent magnet linear motor, and the primary component adopted a coreless structure solution. Figure 7 It is a structural schematic diagram of a low thrust fluctuation modular primary winding segmented permanent magnet linear motor of the present invention, which is represented as a new motor; Fig.16 This is a schematic diagram of the structure of a traditional modular primary winding segmented permanent magnet linear motor. The primary has no iron core, and the segmented primary components use a set of primary windings. The segments use a flat-head docking structure, which represents a traditional motor. The simulation experiment calculates the motor output thrust curve comparison. Fig.17 .

[0103] The two motors have the same secondary structure and size parameters, and the primary windings both adopt a fractional slot concentrated winding structure. Their specific electromagnetic and structural parameters are as follows. The traditional motor is shown in Table 3 and the new motor is shown in Table 4. Unlike the traditional winding segmented permanent magnet linear motor structure, the primary component of the low thrust fluctuation modular primary winding segmented permanent magnet linear motor adopts the upper and lower overlap structure at the ends of the primary component proposed in this application, and the width of the end coil is smaller than the width of the middle coil, as shown in the last row of Table 4.

[0104] Table 3 Electromagnetic and structural parameters of conventional winding segmented permanent magnet linear motor

[0105]

[0106]

[0107] Table 4 Low thrust fluctuation modular primary winding segmented permanent magnet linear motor

[0108]

[0109] A two-dimensional finite element electromagnetic simulation calculation is performed on the above two motor structures to obtain the thrust waveform curve of the motor when the mover passes through the gap of the primary component under the same load conditions, as shown in Fig.17 .

[0110] When the low thrust fluctuation modular primary winding segmented permanent magnet linear motor proposed by the present invention crosses the modular primary joint, the thrust fluctuation peak-to-peak value is 3.82N, the thrust average value in the entire operation stage is 24.43N, and the thrust fluctuation rate is 7.82%. Thrust fluctuation rate = thrust peak-to-peak value / 2 / thrust average value × 100%.

[0111] For the traditional modular primary winding segmented permanent magnet linear motor, when the mover crosses the modular primary joint, the thrust fluctuation obviously increases first and then decreases. The peak-to-peak value of the thrust fluctuation is 13.39N. The average thrust is 23.49N during the entire operation stage, and the thrust fluctuation rate is 28.50%.

[0112] Compared with the traditional modular primary winding segmented permanent magnet linear motor, the low thrust fluctuation modular primary winding segmented permanent magnet linear motor proposed in the present invention overcomes the problem of large thrust fluctuation when the mover runs to the primary joint. The peak-to-peak value of the thrust fluctuation is reduced by 71.47% compared with the traditional motor, and the average thrust is slightly improved, which is beneficial to reduce the speed fluctuation of the mover and improve the control accuracy of the mover.

Claims

1. A low thrust fluctuation modular primary winding segmented permanent magnet linear motor, comprising a secondary assembly and a primary assembly, wherein at least one pair of secondary assemblies is provided, and a permanent magnet with alternating polarity is attached to the secondary core; the primary assembly adopts a multi-module segmented structure, characterized in that: Each primary component has matching sub-lapping edges and mother-lapping edges at both ends, and two adjacent primary components are assembled and combined through the sub-lapping edges and mother-lapping edges. The width of the end coil at the matching position of the sub-lap and the mother-lap in the primary assembly is less than or equal to the width of the coil at the middle position; The coils of each layer of primary winding in the primary assembly have the same phase sequence and the same or similar phase angles. The primary assembly adopts a coil structure with an iron core, including a primary iron core in the middle and upper and lower primary windings, and the sub- and mother-lap structures at the ends of the primary assembly include: an upper lap formed by the upper protrusion of the primary iron core and the lower notch formed by the protrusion of the coil at the end of the upper primary winding; and a lower overlap of an upper notch formed by a lower protrusion of the primary core and a protrusion of an end coil of the lower primary winding end; The relationship between the width of the coil and the width of the gap satisfies: (bs2+q s ) = bs1; Where, the width of the gap between adjacent primary components is q s , the width of the end coil at the overlap position of the sub- and mother-side is bs2, the width of the middle coil is bs1, bs2≤bs1; The gap between adjacent primary components is q s Including mechanical clearance q s1 and the physical gap q s2 ,q s＝ q s1 +q s2 , 0≤q s1 , 0 s2 .​ 2. A low thrust fluctuation modular primary winding segmented permanent magnet linear motor, comprising a secondary assembly and a primary assembly, wherein at least one pair of secondary assemblies is provided, and a permanent magnet with alternating polarity is attached to the secondary core; the primary assembly adopts a multi-module segmented structure, characterized in that: Each primary component has matching sub-lapping edges and mother-lapping edges at both ends, and two adjacent primary components are assembled and combined through the sub-lapping edges and mother-lapping edges. The width of the end coil at the matching position of the sub-lap and the mother-lap in the primary assembly is less than or equal to the width of the coil at the middle position; The coils at relative positions of each layer of primary winding in the primary assembly have the same phase sequence and the same or similar phase angles; the primary assembly adopts a coreless coil structure, including upper and lower layers of primary windings, and the sub- and mother-lap structures at the ends of the primary assembly include: an upper lap formed by the protrusion of the coil at the end of the upper primary winding, and a lower lap formed by the protrusion of the coil at the end of the lower primary winding; The relationship between the width of the coil and the width of the gap satisfies: (bs2+q s ) = bs1; Where, the width of the gap between adjacent primary components is q s , the width of the end coil at the overlap position of the sub- and mother-side is bs2, the width of the middle coil is bs1, bs2≤bs1; The gap between adjacent primary components is q s Including mechanical clearance q s1 and the physical gap q s2 ,q s＝ q s1 +q s2 , 0≤q s1 , 0 s2 .​ 3. A low thrust fluctuation modular primary winding segmented permanent magnet linear motor, comprising a secondary assembly and a primary assembly, wherein at least one pair of secondary assemblies is provided, and a permanent magnet with alternating polarity is attached to the secondary core; the primary assembly adopts a multi-module segmented structure, characterized in that: Each primary component has matching sub-lapping edges and mother-lapping edges at both ends, and two adjacent primary components are assembled and combined through the sub-lapping edges and mother-lapping edges. The width of the end coil at the matching position of the sub-lap and the mother-lap in the primary assembly is less than or equal to the width of the coil at the middle position; The coils at relative positions of each layer of primary winding in the primary assembly have the same phase sequence and the same or similar phase angles; the primary assembly adopts a coreless coil structure, including three layers of primary windings: upper, middle and lower; the sub-lap and mother-lap structures at the ends of the primary assembly include: a sub-lap formed by the protrusion of the coil at the end of the middle layer of primary winding, and a mother-lap formed by the protrusion of the coils at the end of the upper and lower layers of primary winding; The relationship between the width of the coil and the width of the gap satisfies: (bs2+q s ) = bs1; Where, the width of the gap between adjacent primary components is q s , the width of the end coil at the overlap position of the sub- and mother-side is bs2, the width of the middle coil is bs1, bs2≤bs1; The gap between adjacent primary components is q s Including mechanical clearance q s1 and the physical gap q s2 ,q s＝ q s1 +q s2 , 0≤q s1 , 0 s2 .​ 4. A low thrust fluctuation modular primary winding segmented permanent magnet linear motor, comprising a secondary assembly and a primary assembly, wherein at least one pair of secondary assemblies is provided, and a permanent magnet with alternating polarity is attached to the secondary core; the primary assembly adopts a multi-module segmented structure, characterized in that: Each primary component has matching sub-lapping edges and mother-lapping edges at both ends, and two adjacent primary components are assembled and combined through the sub-lapping edges and mother-lapping edges. The width of the end coil at the matching position of the sub-lap and the mother-lap in the primary assembly is less than or equal to the width of the coil at the middle position; The coils at relative positions of each layer of primary winding in the primary component have the same phase sequence and the same or similar phase angle; the primary component adopts a coreless coil structure, including four layers of primary windings, and the sub- and mother-lap structures at the ends of the primary component include: sub-laps formed by protruding coils at the ends of the second and fourth layers of primary windings, and mother-laps formed by protruding coils at the ends of the first and third layers of primary windings; The relationship between the width of the coil and the width of the gap satisfies: (bs2+q s ) = bs1; Where, the width of the gap between adjacent primary components is q s , the width of the end coil at the overlap position of the sub- and mother-side is bs2, the width of the middle coil is bs1, bs2≤bs1; The gap between adjacent primary components is q s Including mechanical clearance q s1 and the physical gap q s2 ,q s＝ q s1 +q s2 , 0≤q s1 , 0 s2 .​ 5. The low thrust fluctuation modular primary winding segmented permanent magnet linear motor according to any one of claims 1 to 4, characterized in that: A coil of a phase winding is arranged at the male and female overlap positions of the primary component.

6. The low thrust fluctuation modular primary winding segmented permanent magnet linear motor according to any one of claims 1 to 4, characterized in that: The secondary component is used as a mover, and the three coils or multiple coil units of the coupled primary component form a three-phase or multi-phase motor, each coil having an independent segmented driver; when the mover moves to a certain coil, the drive controller corresponding to the coil selects the coil in advance, and when leaving the coil unit, the corresponding driver turns off the coil.

7. The low thrust fluctuation modular primary winding segmented permanent magnet linear motor according to claim 6, characterized in that: The primary winding is processed by PCB technology.

8. The low thrust fluctuation modular primary winding segmented permanent magnet linear motor according to claim 6, characterized in that: The primary component is in the form of a straight line, an arc, or a closed structure formed by mixing straight lines and arcs.

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