Dynamic phase permanent magnet direct current brushless motor and driving control method thereof

Abstract

The invention relates to a dynamic-phase permanent-magnet direct-current brushless motor and a driving control method thereof, and is characterized in that a rotor of the motor is formed by butting an even number of arc-shaped permanent magnets with different magnetic polarities, a stator is formed by an even number of tooth poles, and two tooth poles positioned on a diameter line form an excitation pole pair; the single-chip microcomputer controls the switch driving circuit in real time to combine each excitation pole pair of the stator into a current maintaining pole pair unit and a current reversing pole pair unit according to the position of the rotating rotor, and provides forward or reverse current for the two types of units in real time. The number of excitation pole pairs of the two types of units can be changed, and coordinate positions of magnetic polarities of tooth poles of the two types of units are also changed, so that a rotating magnetic field is formed. The motor eliminates negative torque, is continuous in torque, small in pulsation, high in reliability and high in fault tolerance, can meet the requirement of being matched with technical parameters of operation equipment, and can also achieve intelligent motor closed-loop automatic adjustment to meet the operation requirements of the use equipment for the rotating speed, the torque and the like.

Description

Technical Field

[0001] The invention relates to a permanent magnet brushless DC motor, in particular to a dynamic phase permanent magnet brushless DC motor and a drive control method thereof. Background Art

[0002] The electric motor is the most effective power device for converting electrical energy into mechanical energy. It covers and penetrates into various industries and has become the basic equipment for industrial modernization. In my country, due to the low application and popularization of advanced motors, the efficiency is generally low. Among all power-consuming devices, the power consumption of motors is particularly prominent. At present, motors alone consume about 70% of the country's total annual power generation. It can be seen that it is important and urgent to improve the performance of motors. In the nearly 200-year history of motor development, various types of traditional motors have their own advantages and disadvantages. The matching degree of these motors with various different equipment is not ideal, and the comprehensive performance and versatility of the motors are not high. Moreover, as the world enters an era of rapid development of intelligence, many new equipment have put forward many newer and higher requirements for the matching power and control technology.

[0003] Permanent magnet brushless DC motor is a new type of motor that has been developed recently. It has been widely used in various industries with its unique advantages such as energy saving and high efficiency. The stator winding of the permanent magnet brushless DC motor is a phase-based structure setting, which can be two-phase, three-phase, four-phase, five-phase, or even twelve-phase. The operation control of the motor is also turned on and off in a strict logical sequence, and the phases and directions of each phase winding at each stator coordinate position are commutated, thereby forming a rotating magnetic field in the air gap of the motor to drive the rotor to rotate. However, due to the missing angle of torque and negative torque in the air gap between the rotor and the stator during the commutation process, the torque fluctuation and efficiency improvement of the motor will be affected. Therefore, in order to increase the torque of the motor and reduce pulsation, more efforts are made to improve the motor control circuit, such as using vector control technology with complex calculations.

[0004] The object of the present invention is to provide a dynamic phase permanent magnet DC brushless motor with a simple driving control device, editable combination of motor excitation pole pair windings, and variable coordinate positions of the magnetic polarity of the tooth poles of the excitation pole pair.

[0005] Another object of the present invention is to provide a dynamic phase permanent magnet DC brushless motor drive control method, which transforms the fixed phase structure of the stator winding of a traditional permanent magnet DC brushless motor into a dynamic phase structure, thereby generating a rotating magnetic field to make the rotor rotate synchronously.

[0006] To achieve the above object, the technical solution of the present invention is a dynamic phase permanent magnet DC brushless motor, which comprises a motor body and a drive control device, characterized in that: the rotor of the motor body is composed of an even number of arc-shaped permanent magnets, half of the even number of arc-shaped permanent magnets have inner arc surfaces with N poles and outer arc surfaces with S poles, and the other half of the arc-shaped permanent magnets have inner arc surfaces with S poles and outer arc surfaces with N poles, and the permanent magnets with inner arc surfaces with N poles are connected to the permanent magnets with inner arc surfaces with S poles. The stator of the motor body is composed of a stator seat, tooth poles, excitation windings and position sensors. An even number of tooth poles are evenly distributed on the stator seat in a circular shape. Tooth slots are arranged between each tooth pole. The center angles of adjacent tooth poles are the same. Two tooth poles with a center angle of 180° are wound around the same excitation winding to form an excitation pole pair. The drive control device includes a stator excitation pole pair winding connection port, a switch drive circuit, and a single-chip microcomputer. and power supply, the stator excitation pole pair winding connection port is electrically connected to both the switch drive circuit and the stator excitation pole pair winding, the single chip microcomputer is electrically connected to both the switch drive circuit and the position sensor, the single chip microcomputer receives the rotor rotation angle signal given by the position sensor, and edits and combines the stator excitation pole pair windings into two types of excitation pole pair units through the switch drive circuit, one type is the current maintenance excitation pole pair unit, and the other type is the current commutation excitation pole pair unit. At the same time, the single chip microcomputer also controls the switch drive circuit to continuously provide a forward drive current to the current maintenance excitation pole pair unit in real time, and to provide a reverse drive current to the current commutation excitation pole pair unit. Each time the single chip microcomputer receives a signal from the position sensor, it immediately re-edits and combines the stator excitation pole pair windings through the drive switch circuit, and continuously provides a forward drive current to the newly combined current maintenance excitation pole pair unit, and provides a reverse drive current to the newly combined current commutation excitation pole pair unit.

[0007] In the above-mentioned technical solution of the dynamic phase permanent magnet DC brushless motor, the number of stator tooth poles and the number of tooth slots are both twenty-four, the center angle between the radial center lines of adjacent tooth poles is 15°, and an excitation winding is arranged in the tooth slots of two tooth poles whose radial center line angles are 180° to each other, that is, twelve excitation pole pairs are formed; the outer rotor of the motor body is composed of two arc-shaped permanent magnets, or four arc-shaped permanent magnets, or six arc-shaped permanent magnets, or eight arc-shaped permanent magnets and a cylindrical magnet-conducting rotor frame, the arc-shaped permanent magnets are butt-jointed to form a cylindrical shape and fixed on the inner surface of the cylindrical magnet-conducting rotor frame, and the magnetic polarities of adjacent permanent magnets in the cylindrical permanent magnets are different, that is, the arc-shaped permanent magnet with an inner arc surface of N pole and an outer arc surface of S pole is butt-jointed with the arc-shaped permanent magnet with an inner arc surface of S pole and an outer arc surface of N pole.

[0008] In the above-mentioned dynamic phase permanent magnet DC brushless motor technical solution, the position sensor is a plurality of Hall position sensors, which are mounted on the stator seat and arranged near the joint between two rotor permanent magnets with different magnetic polarities.

[0009] In the above-mentioned dynamic phase permanent magnet DC brushless motor technical solution, the position sensor is an encoder, which is arranged on a shaft that rotates synchronously with the motor rotor output shaft and outputs coordinate angle position pulse signals of each permanent magnet pole pair on the rotor.

[0010] In the above-mentioned dynamic phase permanent magnet DC brushless motor technical solution, the drive control device also includes a display operation device, the display operation control device includes a display screen and an operation panel, the power supply includes a control power supply and a drive power supply, the switch drive circuit is composed of a plurality of H-bridge DC solid-state drive relays, the H-bridge DC solid-state drive relay is electrically connected to each excitation pole pair winding lead wire of the motor body stator through the excitation pole pair winding lead wire terminal, each excitation pole pair winding of the motor body stator is connected to an H-bridge DC solid-state drive relay, and the single-chip microcomputer is divided into an excitation pole pair logic code There are two control signal lines between the excitation pole pair ratio logic editing single chip and each H-bridge DC solid-state drive relay circuit, one for controlling the forward current signal line and the other for controlling the reverse current signal line. The excitation pole pair ratio logic editing single chip is also electrically connected to the display operation control device and the logic operation single chip. The logic operation single chip is also electrically connected to the display operation control device. The control power supply provides low-voltage weak electricity for the single chip and the display operation device. The drive power supply is driven by the H-bridge DC solid-state drive relay to drive the excitation pole. The excitation pole pair ratio logic editing single chip computer edits and combines all the stator excitation pole pair windings into two types of excitation pole pair winding units according to the manual editing combination instructions issued by the display control device, one of which is the current-maintained excitation pole pair winding unit, and the other is the current-commutated excitation pole pair winding unit. The excitation pole pair ratio logic editing single chip computer also receives the pre-compiled operation program instructions issued by the logic operation control single chip computer, and continuously provides positive drive current to the current-maintained excitation pole pair winding unit through the H-bridge DC solid-state drive relay in real time, and to the current-commutated excitation pole pair winding unit. A reverse drive current is provided to the excitation pole pair winding unit. The timing of providing a reverse drive current to the current commutation excitation pole pair winding unit is related to the rotor rotation angle. The position sensor sends the rotor rotation angle information to the logic operation control microcontroller, thereby realizing the closed-loop control between the edited combination of the rotor rotation angle and the excitation pole pair winding and the drive current supply. Each time the position sensor sends a signal, the microcontroller re-edits and combines each excitation pole pair winding, and the coordinate position of the tooth pole of the new edited combination current maintenance excitation pole pair winding unit and the current commutation excitation pole pair winding unit will be deflected.

[0011] To achieve another invention purpose, the present invention also provides a dynamic phase permanent magnet DC brushless motor drive control method, characterized in that: the dynamic phase permanent magnet DC brushless motor comprises a motor body and a drive control device, the rotor of the motor body is composed of an even number of arc-shaped permanent magnets, half of the even number of arc-shaped permanent magnets have inner arc surfaces that are N-pole and outer arc surfaces that are S-pole, and the other half of the arc-shaped permanent magnets have inner arc surfaces that are S-pole and outer arc surfaces that are N-pole, and inner arc surfaces that are The permanent magnet with N pole and the permanent magnet with S pole on the inner arc surface are connected to form a circular ring and fixed to the magnet conductive rotor frame; the stator of the motor body is composed of a stator seat, an excitation winding and a position sensor, an even number of tooth poles are evenly distributed on the stator seat in a circular ring shape, and tooth slots are arranged between each tooth pole. The center angle between the center lines of adjacent tooth poles is the same. Two tooth poles with a center angle of 180° are wound around the same excitation winding to form an excitation pole pair. The drive control device includes a stator excitation pole pair. Winding connection port, switch drive circuit, single chip microcomputer, position sensor and power supply, the stator excitation pole pair winding connection terminal is electrically connected to the switch drive circuit and the stator excitation pole pair winding, the single chip microcomputer is electrically connected to the switch drive circuit and the position sensor, the single chip microcomputer receives the rotor rotation angle signal given by the position sensor, and edits and combines the stator excitation pole pairs into two types of excitation pole pair units through the switch drive circuit, one type is the current maintenance excitation pole pair unit, and the other type is the current commutation excitation pole pair unit. At the same time, the single chip microcomputer also controls the switch drive circuit to continuously provide positive drive current to the current maintenance excitation pole pair unit in real time, and provide reverse drive current to the current commutation excitation pole pair unit. Every time the position sensor sends a signal, the single chip microcomputer and the switch drive circuit re-edit and combine the stator excitation pole pairs, and the coordinate position of the tooth pole of the new edited combination of the current maintenance excitation pole pair unit and the current commutation excitation pole pair unit will also change once.

[0012] When a positive current is simultaneously inputted into the current-maintaining excitation pole pair winding unit and the current-commutating excitation pole pair unit with the same central angle within the central angle range corresponding to each permanent magnet, the magnetic polarity presented by the teeth of the current-maintaining excitation pole pair winding unit and the current-commutating excitation pole pair unit is different from the magnetic polarity of the permanent magnets facing these teeth, and the teeth of the current-maintaining excitation pole pair unit and the current-commutating excitation pole pair unit form the shortest closed magnetic circuit with the facing permanent magnets, the rotor permanent magnets and the stator teeth reach magnetic balance, and the relative position between the rotor and the stator remains unchanged; When the excitation pole pair unit closest to the adjacent permanent magnet joint in the counterclockwise direction is set as the current commutation excitation pole pair unit, the magnetic polarity of the tooth pole of the current commutation excitation pole pair unit will change when the current is commutated, and the current maintaining excitation pole pair unit in the corresponding central angle range of the same permanent magnet maintains the same current direction, and its tooth pole magnetic polarity is different from the tooth pole magnetic polarity of the current commutation excitation pole pair unit closest to the rear end in the counterclockwise direction, and the tooth pole magnetic polarity is the same as the current commutation excitation pole pair unit closest to the front end in the counterclockwise direction. At this moment, the coordinate position of the tooth pole with the same magnetic polarity is deflected in the counterclockwise direction compared with the coordinate position of the tooth pole with the same magnetic polarity in the previous magnetic equilibrium state, the magnetic balance between the rotor permanent magnet and the stator tooth pole is broken, and the magnetic lines of force are twisted and elongated. Since the magnetic lines of force follow the law of the shortest closed loop, the rotor permanent magnet is forced to rotate counterclockwise to achieve magnetic balance between the rotor permanent magnet and the stator tooth pole again; Once the rotor permanent magnet and the stator tooth pole reach magnetic balance again, the position sensor sends a signal to the single chip microcomputer and the switch drive circuit, and the single chip microcomputer and the switch drive circuit re-edit and combine the stator excitation pole pairs, and set the excitation pole pair unit closest to the adjacent permanent magnet joint in the counterclockwise direction as the new current commutation excitation pole pair unit, and set the other excitation pole pairs within the corresponding central angle range of the same permanent magnet as the new current maintenance excitation pole pair unit. After the current of the current commutation excitation pole pair unit is commutated, the above process is repeated, and the coordinate position of the tooth pole with the same magnetic polarity is deflected in the counterclockwise direction again, the magnetic balance between the rotor permanent magnet and the stator tooth pole is broken, and the magnetic lines of force are twisted and elongated. Since the magnetic lines of force follow the law of the shortest closed loop, the rotor is forced to rotate counterclockwise, and the rotor permanent magnet and the stator tooth pole are magnetically balanced again; By repeating the above process continuously, the stator excitation pole forms a counterclockwise rotating magnetic field on the tooth pole, which in turn drives the rotor permanent magnet to rotate synchronously counterclockwise; Similarly, when the single chip microcomputer and the switch driving circuit set the excitation pole pair unit closest to the permanent magnet joint in the clockwise direction as the current commutation excitation pole pair unit, and set the other excitation pole pairs within the corresponding central angle range of the same permanent magnet as the current maintenance excitation pole pair units, under this setting condition, the rotor rotates clockwise; The number of excitation pole pairs formed by the current-maintaining excitation pole pair unit and the current-commutation excitation pole pair unit corresponding to each permanent magnet of the rotor within the central angle range can be manually set and corrected, or can be pre-set by the microcontroller, or can be automatically adjusted in real time in a closed loop by the microcontroller according to the operating status of the motor.

[0013] In the above-mentioned dynamic phase permanent magnet brushless DC motor drive control method, the method in which the single chip microcomputer makes real-time adjustments according to the running state of the motor is that, first, when the motor starts, the number of excitation pole pairs set by the excitation pole pair unit closest to the permanent magnet docking point is relatively small, that is, within the corresponding central angle range of the same permanent magnet, the ratio of the number of excitation pole pairs set by the current maintaining excitation pole pair unit to the number of excitation pole pairs set by the current commutation excitation pole pair unit is relatively large. After the motor starts, as the motor load changes or the speed increases, the single chip microcomputer gradually adjusts the excitation pole pairs set by the current commutation excitation pole pair commutation unit closest to the permanent magnet docking point. The number of magnetic pole pairs is optimized so that the ratio of the number of excitation pole pairs set by the current maintaining excitation pole pair unit to the number of excitation pole pairs set by the current commutation excitation pole pair unit is optimal, until the motor reaches the best matching state with the operating equipment; secondly, according to the coordinate angular position of the current maintaining excitation pole pair unit and the current commutation excitation pole pair unit and the permanent magnets on the rotor, the magnitude of the positive and negative currents input to the current maintaining excitation pole pair unit and the current commutation excitation pole pair unit are closed or adjusted in real time to achieve the goal of minimizing the input current, saving energy and improving the working efficiency of the motor while meeting the conditions required for the operation of the motor equipment.

[0014] In order to meet the urgent needs of modern intelligent development for power sources, the present invention has gone beyond the traditional motor structure and control technology form, and has developed a motor that is compatible with and absorbs the advantages of traditional induction motors, DC motors, permanent magnet DC brushless motors and switched reluctance motors, while avoiding and making up for their respective defects and deficiencies as much as possible, so that the motor can have the unique performance of higher efficiency, energy saving, large torque output at low speed, high safety and reliability, and intelligent regulation, and can better meet the needs of new equipment for the development of new power in the development of science and technology.

[0015] The present invention breaks through the existing mode in which the "phase" of the motor is composed of a fixed number of excitation pole pairs, and the coordinate position of the tooth poles of each "phase" excitation pole pair is also fixed. The present invention divides the stator excitation pole pairs into two types of excitation pole pair units, one is the current-maintained excitation pole pair unit, and the other is the current-commutated excitation pole pair unit. This is similar to the "two poles" in the traditional sense. However, although the sum of the number of excitation pole pairs contained in the two types of excitation pole pair units set by the present invention is a constant, the ratio of the number of excitation pole pairs contained in the two types of excitation pole pair units is changeable, and as the motor starts to run, the two types of units will continue to be composed of different excitation pole pairs, and the coordinate positions of the excitation pole pairs contained in the newly formed two types of excitation pole pair units will also gradually change. If the concept of "phase" in the traditional sense is used to describe it, the number of excitation pole pairs combined by the "phase" of the present invention and the coordinate position of the tooth poles of the "phase" are both dynamic. Through the single-chip microcomputer and switch drive circuit, each stator excitation pole winding is independently controlled to achieve the splitting and reorganization required to form the "dynamic phase", so as to generate a rotating magnetic field through the "dynamic phase" structure, so that the motor can obtain high torque and small pulsation output.

[0016] The technical effects and advantages of the present invention are as follows: (1) The present invention adopts a dynamic phase transition commutation method. Each time the current is commutated, the excitation pole pair winding is only a part of the entire excitation pole pair winding, and the other part still maintains the original current direction, thereby reducing the impact of the commutation current.

[0017] (2) The present invention reduces the commutation inductance, reduces the reverse voltage, and increases the commutation speed.

[0018] (3) In the present invention, during the operation of the motor, there is always current to maintain the current direction in the excitation pole pair unit winding unchanged. These currents maintain the tooth poles of the excitation pole pair unit and the rotor permanent magnet pole pairs to maintain continuous torque, which not only improves the torque output but also greatly reduces the torque pulsation.

[0019] (4) The present invention eliminates negative torque in the air gap between the stator and the rotor, so that the air gap has torque forces in the same direction.

[0020] (5) Once a traditional motor is finalized, the parameters of each motor are fixed and cannot be modified, which makes the motor and the equipment not compatible. However, the present invention can control the splitting and reorganization of the windings of each stator excitation pole pair through the logic editing control program to achieve the technical parameter matching requirements of the running equipment, and can also realize the closed-loop automatic adjustment of the intelligent motor to meet the running requirements of the equipment for speed, torque, etc.

[0021] (6) The present invention has high reliability and high fault tolerance. When a certain excitation pole pair in the motor fails, the remaining excitation pole pairs can continue to operate normally. This is of great value for safe use in high-risk areas with high reliability requirements.

[0022] (7) The present invention can achieve constant torque output. This low-speed, high-torque output motor is particularly suitable for equipment that starts under heavy load and changes speed frequently, such as electric vehicles, high-speed railways, ships, and other equipment.

[0023] (8) The present invention eliminates the strict logic control of phase sequence commutation and only needs to perform commutation control on each unit according to the position signal, which greatly improves the reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is the first embodiment of the present invention, a motor body structure and a magnetic polarity state diagram (magnetic balance) before starting.

[0025] Figure 2 This is a magnetic polarity state diagram when the excitation pole pair unit closest to the permanent magnet docking point is closed in embodiment 1 of the present invention.

[0026] Figure 3 This is a magnetic polarity state diagram of the first embodiment of the present invention when the current of the excitation pole pair unit closest to the permanent magnet connection is reversed.

[0027] Figure 4 This is a diagram of the magnetic polarity state of embodiment 1 of the present invention, in which the motor rotor rotates 60° and the rotor permanent magnet and the stator excitation pole pair reach magnetic equilibrium.

[0028] Figure 5 This is a magnetic polarity state diagram when the current of the excitation pole pair unit closest to the permanent magnet connection is turned off in embodiment 1 of the present invention.

[0029] Figure 6 This is a magnetic polarity state diagram of the first embodiment of the present invention when the current of the excitation pole pair unit closest to the permanent magnet connection is reversed.

[0030] Figure 7 This is a diagram of the magnetic polarity state of embodiment 1 of the present invention, in which the motor rotor rotates 120° and the rotor permanent magnet and the stator excitation pole pair reach a magnetic equilibrium.

[0031] Figure 8 This is a magnetic polarity state diagram when the current of the excitation pole pair unit closest to the permanent magnet connection is turned off in embodiment 1 of the present invention.

[0032] Fig. 9 This is a magnetic polarity state diagram of the first embodiment of the present invention when the current of the excitation pole pair unit closest to the permanent magnet connection is reversed.

[0033] Fig.10This is a diagram of the magnetic polarity state of embodiment 1 of the present invention, in which the motor rotor rotates 180° and the rotor permanent magnet and the stator excitation pole pair reach magnetic equilibrium.

[0034] Fig.11 This is a magnetic polarity state diagram when the current of the excitation pole pair unit closest to the permanent magnet connection is turned off in embodiment 1 of the present invention.

[0035] Fig.12 This is a magnetic polarity state diagram of the first embodiment of the present invention when the current of the excitation pole pair unit closest to the permanent magnet connection is reversed.

[0036] Fig.13 This is a diagram of the magnetic polarity state of embodiment 1 of the present invention, in which the motor rotor rotates 240° and the rotor permanent magnet and the stator excitation pole pair reach magnetic equilibrium.

[0037] Fig.14 This is a magnetic polarity state diagram when the current of the excitation pole pair unit closest to the permanent magnet connection is turned off in embodiment 1 of the present invention.

[0038] Fig.15 This is a magnetic polarity state diagram of the first embodiment of the present invention when the current of the excitation pole pair unit closest to the permanent magnet connection is reversed.

[0039] Fig.16 This is a diagram of the magnetic polarity state of embodiment 1 of the present invention, in which the motor rotor rotates 300° and the rotor permanent magnet and the stator excitation pole pair reach a magnetic equilibrium.

[0040] Fig.17 This is a magnetic polarity state diagram when the current of the excitation pole pair unit closest to the permanent magnet connection is turned off in embodiment 1 of the present invention.

[0041] Fig.18 This is a magnetic polarity state diagram of the first embodiment of the present invention when the current of the excitation pole pair unit closest to the permanent magnet connection is reversed.

[0042] Fig.19 This is a diagram of the magnetic polarity state of embodiment 1 of the present invention, in which the motor rotor rotates 360° and the rotor permanent magnet and the stator excitation pole pair reach a magnetic equilibrium.

[0043] Fig. 20 This is a circuit principle block diagram of a motor drive control device according to Embodiment 1 of the present invention.

[0044] Fig.21 This is the second embodiment of the present invention, the current maintaining excitation pole pair unit (A unit) is eleven excitation pole pairs, the current commutation excitation pole pair unit (B unit) is one excitation pole pair, and the magnetic polarity state diagram when the current of the B unit is turned off.

[0045] Fig. 22This is the second embodiment of the present invention, the current maintaining excitation pole pair unit (A unit) is ten excitation pole pairs, the current switching excitation pole pair unit (B unit) is two excitation pole pairs, and the magnetic polarity state diagram when the current of the B unit is turned off.

[0046] Fig.23 This is the second embodiment of the present invention, the current maintaining excitation pole pair unit (A unit) is nine excitation pole pairs, the current switching excitation pole pair unit (B unit) is three excitation pole pairs, and the magnetic polarity state diagram when the current of the B unit is turned off.

[0047] Fig.24 This is the second embodiment of the present invention, the current maintaining excitation pole pair unit (A unit) has eight excitation pole pairs, the current commutation excitation pole pair unit (B unit) has four excitation pole pairs, and the magnetic polarity state diagram when the current of the B unit is turned off.

[0048] Fig.25 This is the second embodiment of the present invention, the current maintaining excitation pole pair unit (unit A) has seven excitation pole pairs, the current switching excitation pole pair unit (unit B) has five excitation pole pairs, and the magnetic polarity state diagram when the current of unit B is turned off.

[0049] Fig.26 This is the second embodiment of the present invention, the current maintaining excitation pole pair unit (A unit) has six excitation pole pairs, the current commutation excitation pole pair unit (B unit) has six excitation pole pairs, and the magnetic polarity state diagram of the B unit when the current is turned off.

[0050] Fig. 27 This is the second embodiment of the present invention, the current maintaining excitation pole pair unit (A unit) has five excitation pole pairs, the current switching excitation pole pair unit (B unit) has seven excitation pole pairs, and the magnetic polarity state diagram when the current of the B unit is turned off.

[0051] Fig.28 This is the second embodiment of the present invention, the current maintaining excitation pole pair unit (A unit) has four excitation pole pairs, the current commutation excitation pole pair unit (B unit) has eight excitation pole pairs, and a schematic diagram of the magnetic polarity state when the current of the B unit is turned off.

[0052] Fig.29 This is the second embodiment of the present invention, the current maintaining excitation pole pair unit (A unit) has three excitation pole pairs, the current commutation excitation pole pair unit (B unit) has nine excitation pole pairs, and a schematic diagram of the magnetic polarity state when the current of the B unit is turned off.

[0053] Fig.30 This is the second embodiment of the present invention, the current maintaining excitation pole pair unit (A unit) is two excitation pole pairs, the current switching excitation pole pair unit (B unit) is ten excitation pole pairs, and the magnetic polarity state diagram when the current of the B unit is turned off.

[0054] Fig.31This is the second embodiment of the present invention, the current maintaining excitation pole pair unit (A unit) is one excitation pole pair, the current commutation excitation pole pair unit (B unit) is eleven excitation pole pairs, and the magnetic polarity state diagram when the current of the B unit is turned off.

[0055] Fig.32 This is a schematic diagram of the structure of the third embodiment of the present invention, in which the outer rotor of the motor body is composed of four permanent magnets connected together, the stator is composed of twenty-four tooth poles and twelve excitation pole pairs, and the magnetic balance state diagram before the motor is started.

[0056] Fig.33 This is the third embodiment of the present invention, the current maintaining excitation pole pair unit (A unit) has four excitation pole pairs, the current switching excitation pole pair unit (B unit) has two excitation pole pairs, and the magnetic polarity state diagram when the current of the B unit is turned off.

[0057] Fig.34 This is a diagram of the magnetic polarity state when the current of the current-commutated excitation pole pair unit (B unit) is reversed in embodiment 3 of the present invention.

[0058] Fig.35 This is the third embodiment of the present invention, the motor rotor rotates 30 degrees, and the rotor permanent magnet and the stator excitation pole pair reach a magnetic equilibrium magnetic polarity state diagram.

[0059] Fig.36 This is a schematic diagram of the structure of the fourth embodiment of the present invention, in which the outer rotor of the motor body is composed of six permanent magnets connected together, the stator is composed of twenty-four tooth poles and twelve excitation pole pairs, and the magnetic balance state diagram before the motor is started.

[0060] Fig.37 This is the fourth embodiment of the present invention, the current maintaining excitation pole pair unit (A unit) is three excitation pole pairs, the current commutation excitation pole pair unit (B unit) is one excitation pole pair, and the magnetic polarity state diagram when the current of the B unit is turned off.

[0061] In the above drawings, 100 is a display control device, 101 is a rectifier circuit, 102 is an inverter circuit, 103 is a drive power supply, 104 is a control power supply, 105 is a logic operation control single-chip microcomputer, 106 is an excitation pole pair editing and combining two types of unit single-chip microcomputers, 107 is one of the H-bridge DC solid-state drive relays, 108 is the second H-bridge DC solid-state drive relay, 109 is the eleventh H-bridge DC solid-state drive relay, 110 is the twelfth H-bridge DC solid-state drive relay, 111 is a stator excitation pole pair winding connection port, 112 is a position sensor, 113 is a fault protection circuit, and 114 is a motor body. DETAILED DESCRIPTION

[0062] Specific embodiments of the present invention are described below in conjunction with the accompanying drawings.

[0063] In order to make a concise and accurate description of the embodiments of the present invention, the terms involved in the embodiments of the present invention are briefly explained.

[0064] First, permanent magnet pole pair: refers to an even number of circular permanent magnets that are butted end to end and arranged opposite to each other. That is, two permanent magnets that are on the same diameter line and arranged opposite to each other are a permanent magnet pole pair. The magnetic polarities of the two permanent magnets in the same permanent magnet pole pair may be different or the same.

[0065] Second, the permanent magnet joint: refers to the joint where permanent magnets with different circular magnetic polarities are connected to each other, and it is also the place where the magnetic polarity of adjacent permanent magnets changes.

[0066] Third, the central angle of the permanent magnet: refers to the angle between the radial rays drawn from the motor's rotation axis to the two ends of the same arc-shaped permanent magnet. The rotor permanent magnet is in the shape of a ring. When the ring is formed by two permanent magnets, the central angle of each permanent magnet is 180°; when the ring is formed by four permanent magnets, the central angle of each permanent magnet is 90°; when the ring is formed by six permanent magnets, the central angle of each permanent magnet is 60°; when the ring is formed by eight permanent magnets, the central angle of each permanent magnet is 45°.

[0067] Fourth, excitation pole pair: The tooth pole wound by the same excitation winding is an excitation pole pair. The two tooth poles of the same excitation pole pair are at the two ends of the same diameter line, and the center angle of the two tooth poles of the same excitation pole pair is 180°. The magnetic polarity of the tooth poles of the same excitation pole pair changes simultaneously with the change of the excitation current direction. The magnetic polarity of the two tooth poles of the same excitation pole pair can be different or the same.

[0068] Fifth, excitation pole pair unit: refers to the combination of excitation pole pairs controlled by the same driving current. The excitation pole pair unit can be composed of different numbers of excitation pole pairs (not limited to one excitation pole pair). The excitation pole pair unit in which the driving current direction remains unchanged is a current-maintained excitation pole pair unit, and the magnetic polarity of all tooth poles of this unit remains unchanged, while the excitation pole pair unit in which the driving current direction is reversed is a current-reversed excitation pole pair unit, and the magnetic polarity of all tooth poles of this unit will change due to the reversal of the driving current.

[0069] Sixth, the coordinate position of the excitation pole to the tooth pole: the concept of polar angle in polar coordinates is used to express the specific position of the excitation pole to the tooth pole evenly distributed on the stator seat.

[0070] Seventh, magnetic balance: refers to the magnetic polarity of the rotor permanent magnet pole pair and the magnetic polarity of the stator excitation pole pair tooth pole are different, and the closed magnetic circuit is the shortest. Embodiment 1

[0071] The cross-sectional structure of the motor body of this embodiment is shown in the attached figure. Figure 1As shown, the outer rotor is composed of two semicircular permanent magnets connected together. The joints of the two permanent magnets are located at the due north and due south positions (clock zero and six o'clock positions), and the stator has twenty-four tooth poles, which are marked as tooth pole 1-tooth pole 24 The center angle of the center line of adjacent tooth poles is 15°, and the teeth with center angles of 180° are wound with an excitation winding to form twelve excitation pole pairs. The three Hall position sensors AX, BX, and CX are set at 0°, 60°, and 120° respectively.

[0072] The circuit principle block diagram of the motor drive control device of this embodiment is shown in the attached figure. Fig. 20 shown.

[0073] Attached Fig. 20 In the embodiment, the rectifier circuit 101 and the inverter circuit 102 convert the AC power into a drive current 103 and a control power supply 104. The drive power supply 103 provides a drive current for the excitation pole pair winding through twelve H-bridge DC solid-state drive relays. The control power supply 104 provides a working power supply for the display operation control device 100, the logic operation single-chip computer 105 and the excitation pole pair editing combination as two types of unit single-chip computers 106. The excitation pole pair editing combination as two types of unit single-chip computers 106 have twelve pairs of control signal lines respectively electrically connected to the twelve H-bridge DC solid-state drive relays. In each pair of control signal lines, one signal line controls the presence or absence of a forward current, and the other signal line controls the presence or absence of a reverse current. The twelve H-bridge DC solid-state drive relays are respectively electrically connected to the twelve excitation pole pair windings of the stator of the motor body 114 through the stator excitation pole pair winding connection port 111, that is, the H-bridge DC solid-state drive relay (1) is connected to the tooth pole 1 and the tooth pole 2. 13 The pole pair windings are electrically connected, and the H-bridge DC solid-state drive relay (2) is connected to the tooth pole 2 and the tooth pole 14 The pole pair windings are electrically connected, and so on, the H-bridge DC solid-state drive relay (11) and the tooth pole 11 and tooth pole 23 The pole pair windings are electrically connected, and the H-bridge DC solid-state drive relay (12) is connected to the tooth pole 12 and tooth pole 24 The pole pair windings are electrically connected. The position sensor (signal sampling) 112 is disposed in the motor body 114. The position sensor 112 transmits the sampling signal to the logic operation microcontroller 105 and transmits the sampling signal to the fault protection circuit 113. The fault protection circuit 113 transmits the circuit protection signal to the logic operation microcontroller 105 and twelve H-bridge DC solid-state drive relays respectively.

[0074] In this embodiment, the display control device 100 and the excitation pole pair editing and combining unit single chip 106 are used to edit and combine the twelve excitation pole pairs of the stator into two types of excitation pole pair units, one type is the current-maintained excitation pole pair unit, and the other type is the current-commutated excitation pole pair unit. It is determined that the current-maintained excitation pole pair unit is composed of eight excitation pole pairs, and the current-commutated excitation pole pair unit is composed of four excitation pole pairs. Figure 2 and attached Figure 3 In the current commutation, the initial excitation pole pair unit consists of tooth pole 1-tooth pole 4 and tooth pole 13 - Tooth pole 16 The initial current maintains the excitation pole pair unit, which consists of tooth poles 5-8 and tooth poles 17 - Tooth pole 20 , tooth pole 9-tooth pole 12 and tooth pole 21 - Tooth pole 24 Combination.

[0075] Before the motor starts, the logic operation microcontroller 105 and the excitation pole pair editing combination are combined into two types of units. The microcontroller 106 controls the drive power supply 103 to simultaneously input forward current (1+, 2+, ... 11+, 12+) to all twelve H-bridge DC solid-state drive relays. At this moment, tooth pole 1 to tooth pole 12 All present as N pole, tooth pole 13 To tooth pole 24 All of them are S poles, see attached Figure 1 At this moment, the magnetic field lines between the permanent magnet and the excitation pole pair are the shortest, the rotor and the stator reach magnetic equilibrium, and the relative positions of the rotor and the stator remain unchanged.

[0076] When the motor starts, the logic operation microcontroller 105 and the excitation pole pair editing are combined into two types of units. The microcontroller 106 controls the drive power supply 103 and the H-bridge DC solid-state drive relay (1) to the H-bridge DC solid-state drive relay (4) to close the current commutation excitation pole pair unit (tooth pole 1 to tooth pole 4 and tooth pole 5) closest to the permanent magnet docking point (0° position and 180° position). 13 To tooth pole 16 At the same time, the H-bridge DC solid-state drive relay (5) to the H-bridge DC solid-state drive relay (12) continuously supply current to maintain the excitation pole pair unit (tooth pole 5 to tooth pole 1). 12 and tooth pole 17 To tooth pole 24 ) continues to maintain the original direction of the driving current. At this moment, tooth poles 1 to 4 and tooth poles 13 To tooth pole 16 The magnetic polarity disappears, and tooth pole 5 to tooth pole 12 and tooth pole 17 To tooth pole 24The magnetic polarity of the motor remains unchanged, and the magnetic balance before the motor starts is broken. Figure 2 .

[0077] At this moment, the H-bridge DC solid-state drive relay (1) to the H-bridge DC solid-state drive relay (4) provide current to the current-commutating excitation pole pair unit (tooth pole 1 to tooth pole 4 and tooth pole 13 To tooth pole 16 ) Input reverse drive current, the magnetic polarity of tooth pole 1 to tooth pole 4 changes to S pole, 13 To tooth pole 16 The magnetic polarity changes to N pole, see the attached Figure 3 At this moment, tooth pole 5 to tooth pole 12 and tooth pole 13 To tooth pole 16 The magnetic polarity of the tooth is N pole, and the tooth pole 17 To tooth pole 24 The magnetic polarity of tooth poles 1 to 4 is S-pole, and the permanent magnet with S-pole on the inner arc surface of the outer rotor is attracted by the magnetic polarity of tooth poles 5 to 4. 12 N pole and tooth pole 13 To tooth pole 16 The magnetic attraction of the N pole, at the same time, the permanent magnet with the S pole on the inner arc surface of the outer rotor is also subject to the magnetic repulsion from the S pole tooth poles 1 to 4. In relative position, the permanent magnet with the N pole on the inner arc surface of the outer rotor is subject to the magnetic repulsion from the tooth poles 17 To tooth pole 24 The S-pole magnetic attraction of tooth poles 1 to 4 is also attracted by the permanent magnets with N-pole magnetic attraction on the inner arc surface of the outer rotor. 13 To tooth pole 16 The magnetic repulsion is relatively Figure 1 With attached Figure 2 It can be seen that the coordinate position of the tooth pole with magnetic polarity N has been deflected by a sixty-degree central angle. At this moment, the stator tooth pole after magnetic polarity deflection forms a magnetic torque on the rotor permanent magnet, and the outer rotor permanent magnet obtains a magnetic torque rotating in the counterclockwise direction, forcing the rotor to rotate sixty degrees in the counterclockwise direction. After the outer rotor rotates 60 degrees in the counterclockwise direction, the magnetic field line between the rotor permanent magnet and the stator excitation pole pair tooth pole is the shortest, and the rotor permanent magnet and the stator excitation tooth pole reach magnetic balance again, see the attached Figure 4 Once the magnetic balance is reached, the Hall position sensor BX captures the change in magnetic polarity at the permanent magnet joint, and sends a signal to the logic operation microcontroller 105. The excitation pole pairs are edited and combined into two types of units. The microcontroller 106 then switches the tooth poles 5 to 8 and the tooth poles closest to the permanent magnet joint seam (60° and 240°). 17 To tooth pole 20 Combined into a new current commutation excitation pole pair unit, and the tooth pole 9 to the tooth pole 16 and tooth pole 21 To tooth pole 24, tooth pole 1 to tooth pole 4 are combined into a new current maintaining excitation pole pair unit. This time, the H-bridge DC solid-state drive relay (5) to the H-bridge DC solid-state drive relay (8) close the current commutation excitation pole pair unit (tooth pole 5 to tooth pole 8 and tooth pole 17 To tooth pole 20 winding) drive current, see Appendix Figure 5 , tooth pole 5 to tooth pole 8 and tooth pole 17 To tooth pole 20 The magnetic polarity disappears, and the H-bridge DC solid-state drive relay (1) to the H-bridge DC solid-state drive relay (4) and the H-bridge DC solid-state drive relay (9) to the H-bridge DC solid-state drive relay (12) continue to supply current to maintain the excitation pole pair unit (tooth pole 9 to tooth pole 16 and tooth pole 21 To tooth pole 24 and tooth pole 1 to tooth pole 4) continue to maintain the original direction of the drive current, tooth pole 9 to tooth pole 16 and tooth pole 21 To tooth pole 24 The magnetic polarity of tooth poles 1 to 4 remains unchanged. At this moment, the H-bridge DC solid-state drive relay (5) to the H-bridge DC solid-state drive relay (8) commutate the current excitation pole pair unit (tooth poles 5 to 8 and tooth poles 4). 17 To tooth pole 20 ) Input reverse drive current, the magnetic polarity of tooth pole 5 to tooth pole 8 is S pole, 17 To tooth pole 20 The magnetic polarity is N pole, see attached Figure 6 , and the new combined current maintains the excitation pole pair unit group tooth pole 9 to tooth pole 16 And tooth pole 17 To tooth pole 20 The magnetic polarity is N-pole, which forms magnetic attraction to the permanent magnet with S-pole on the inner arc surface of the outer rotor. At the same time, the permanent magnet with S-pole on the inner arc surface of the outer rotor is also magnetically repelled from the tooth poles 5 to 8 with S-pole magnetic polarity. In terms of relative position, the tooth poles 21 To tooth pole 24 The tooth poles 1 to 8 are S poles, forming magnetic attraction to the permanent magnet with N poles on the inner arc surface, while the tooth poles 17 To tooth pole 20 The outer rotor is N-pole, which forms magnetic repulsion to the permanent magnet with N-pole on the inner arc surface. The outer rotor permanent magnet obtains magnetic torque to rotate counterclockwise again, so that the outer rotor continues to rotate counterclockwise by 60° step angle to achieve another magnetic balance. Figure 7 At this moment, the Hall position sensor CX captures the change of magnetic polarity at the permanent magnet joint, and sends a signal to the logic operation microcontroller 105 again, so that the excitation pole pairs are edited and combined into two types of units. The microcontroller 106 recombines the new current maintenance excitation pole pair unit and the current commutation excitation pole pair unit, see the attached Figure 8, and the H-bridge DC solid-state drive relay (9) to the H-bridge DC solid-state drive relay (12) turn off the drive current to the new combination of current commutation excitation pole pair units, and then the drive current commutation, the H-bridge DC solid-state drive relay (1) to the H-bridge DC solid-state drive relay (8) continue to input the drive current to the new combination of current maintenance excitation pole pair units, see the attached Fig. 9 Repeat the above steps to make the outer rotor continue to rotate counterclockwise by 60° step angle. Fig.10 . This cycle continues, and the outer rotor rotates 360° counterclockwise. See the attached Fig.11 To Attachment Fig.19 The motor rotor rotates one circle, completing a drive control cycle. The outer rotor permanent magnet rotates synchronously under the action of the stator tooth pole rotating magnetic field.

[0078] In this embodiment, during the two magnetic balances between the permanent magnets of the motor rotor and the stator excitation tooth poles, the current maintenance excitation pole pair unit and the current commutation excitation pole pair unit are edited and combined, and the current commutation of the current commutation excitation pole pair unit is also completed, and the rotor rotates 60 degrees of the central angle. In short, this embodiment generates a rotating magnetic field by splitting and reorganizing the excitation pole pair windings and current commutation. Embodiment 2

[0079] The motor body structure of this embodiment is the same as that of the first embodiment. The outer rotor is formed by two semicircular permanent magnets connected together. The joints of the two permanent magnets are located at the due north and due south positions (clock zero and six o'clock positions), respectively. The stator has twenty-four tooth poles, which are marked as tooth pole 1 to tooth pole 24 , the center angle of the center line of adjacent tooth poles is 15°, and the tooth poles with center angles of 180° are wound with an excitation winding to form twelve excitation pole pairs. The encoder is used as a position sensor for the rotation of the motor rotor. See the attached Fig.21 .

[0080] The circuit principle block diagram of the motor drive control device of this embodiment is shown in the attached figure. Fig. 20 As shown, the twelve H-bridge DC solid-state drive relays can be replaced by twelve H-bridge DC drive chips.

[0081] The twelve excitation pole pair windings of the stator are electrically connected to the twelve H-bridge DC solid-state drive relays through the connection ports 111 .

[0082] In this embodiment, the single chip microcomputer 106 dynamically combines the twelve excitation pole pairs of the stator into a current-maintained excitation pole pair unit (hereinafter referred to as A unit) and a current-commutated excitation pole pair unit (hereinafter referred to as B unit) by editing and combining the excitation pole pairs into two types of units. In this embodiment, at different times, the combination ratio of the number of excitation pole pairs contained in the A unit and the number of excitation pole pairs contained in the B unit is variable and controllable. The specific ratio of the A unit to the B unit is shown in the following table:

[0083]

[0084] When unit A is (11), the currents of eleven excitation pole pairs are maintained, and unit B is (1), the current of one excitation pole pair is commutated, eleven H-bridge DC solid-state drive relays continuously input drive current to unit A, and one H-bridge DC solid-state drive relay commutates the current of unit B. Fig.21 The rotor permanent magnet and the stator excitation tooth pole are magnetically balanced twice, and the motor rotor rotates at a step angle of 15°.

[0085] When unit A is (10), the current of ten excitation pole pairs is maintained, and unit B is (2), the current of two excitation pole pairs is commutated, ten H-bridge DC solid-state drive relays continuously input drive current to unit A, and two H-bridge DC solid-state drive relays commutate the current of unit B. Fig. 22 , the motor rotor rotation step angle is 30°.

[0086] When unit A is (9), the current of the nine excitation pole pairs is maintained, and unit B is (3), the current of three excitation pole pairs is commutated, and nine H-bridge DC solid-state drive relays continuously input drive current to unit A, and three H-bridge DC solid-state drive relays commutate the current of unit B. Fig.23 , the motor rotor rotation step angle is 45°.

[0087] When unit A is (8), the current of the eight excitation pole pairs is maintained, and unit B is (4), the current of the four excitation pole pairs is commutated. The eight H-bridge DC solid-state drive relays continuously input drive current to unit A, and the four H-bridge DC solid-state drive relays commutate the current of unit B. See Appendix Fig.24 , the motor rotor rotation step angle is 60°.

[0088] When unit A is (7), the current of the seven excitation pole pairs is maintained, and when unit B is (5), the current of the five excitation pole pairs is commutated. Seven H-bridge DC solid-state drive relays continuously input drive current to unit A, and five H-bridge DC solid-state drive relays commutate the current of unit B. See Appendix Fig.25 , the motor rotor rotation step angle is 75°.

[0089] When the A unit is (6), the six excitation pole pairs of winding currents are maintained, and when the B unit is (6), the six excitation pole pairs of winding currents are commutated. The six H-bridge DC solid-state drive relays continuously input drive currents to the A unit, and the six H-bridge DC solid-state drive relays commutate the currents of the B unit. See Appendix Fig.26 , the motor rotor rotation step angle is 90°.

[0090] When unit A is (5), the five excitation pole pairs of winding currents are maintained, and unit B is (7), the seven excitation pole pairs of winding currents are commutated, and the five H-bridge DC solid-state drive relays continue to input drive current to unit A, and the seven H-bridge DC solid-state drive relays commutate the current of unit B. See Appendix Fig. 27 , the motor rotor rotation step angle is 105°.

[0091] When unit A is (4), the current of the four excitation pole pairs is maintained, and when unit B is (8), the current of the eight excitation pole pairs is commutated. The four H-bridge DC solid-state drive relays continuously input the drive current to unit A, and the eight H-bridge DC solid-state drive relays commutate the current of unit B. See Appendix Fig.28 , the motor rotor rotation step angle is 120°.

[0092] When unit A is (3), there are nine excitation pole pairs of winding current commutation, and unit B is (9), three excitation pole pairs of winding current are maintained, three H-bridge DC solid-state drive relays continue to input drive current to unit A, and nine H-bridge DC solid-state drive relays commutate the current of unit B. See Appendix Fig.29 , the motor rotor rotation step angle is 135°.

[0093] When unit A is (2), the current of the two excitation pole pairs is maintained, and unit B is (10), there are ten excitation pole pairs of winding current commutation, two H-bridge DC solid-state drive relays continue to input drive current to unit A, and ten H-bridge DC solid-state drive relays commutate the current of unit B. See Appendix Fig.30 , the motor rotor rotation step angle is 150°.

[0094] When unit A is (1), one excitation pole pair winding current is maintained, and unit B is (11), there are eleven excitation pole pairs winding current commutation, one H-bridge DC solid-state drive relay continuously inputs drive current to unit A, and eleven H-bridge DC solid-state drive relays commutate the current of unit B. See Appendix Fig.31 , the motor rotor rotation step angle is 165°.

[0095] In this embodiment, the number of excitation pole pairs in unit A and unit B is a variable, and different number combinations of unit A and unit B correspond to different step angles. Through the display operation device 100, the logic operation single chip computer 105 and the excitation pole pair editing and combination into two types of unit single chip computers 106 in the motor drive control device, the quantitative relationship between unit A and unit B can be programmed or manually adjusted, and then the motor rotation step angle can be selected and changed. Under normal circumstances, when the motor starts, the step angle gradually increases from small to large, which can make the motor start smoothly and improve the torque. When the motor speed increases, the step angle also becomes relatively larger. When the motor speed is stable, the step angle is also relatively unchanged.

[0096] In this embodiment, the encoder is used as the position sensor 112 of the motor rotor, and the encoder is set on the shaft that runs synchronously with the motor rotor output shaft. The encoder can be selected as a model with 360 (or integer multiple) pulses per week. During the rotation of the motor rotor, the encoder outputs equally spaced pulses to the logic operation single chip microcomputer 105. The logic operation single chip microcomputer 105 controls the editing and combination of the excitation pole pairs into two types of units according to the number of encoder pulses received and the pre-set program. The single chip microcomputer 106 edits and combines the new current maintenance excitation pole pair unit and the new current commutation excitation pole pair unit in real time, and controls the drive current in real time to continue in the new current maintenance excitation pole pair unit and commutate in the new current commutation excitation pole pair unit, so as to perform self-closed loop correction control on the running equipment state.

[0097] In this embodiment, the magnitude of the forward and reverse currents input to the current maintaining excitation pole pair unit and the current commutating excitation pole pair unit can be closed, adjusted and controlled in real time according to the coordinate angle positions of the current maintaining excitation pole pair unit and the current commutating excitation pole pair unit and the permanent magnets on the rotor, so as to minimize the input current, save energy and improve the working efficiency of the motor while meeting the conditions required for the operation of the motor equipment.

[0098] The driving principle and operation mechanism of the motor in this embodiment are similar to those in the first embodiment and will not be described in detail here. Embodiment 3

[0099] The outer rotor of this embodiment is formed by connecting four arc-shaped permanent magnets. Fig.32 The number of stator tooth poles is 24, with a total of 12 excitation pole pairs, each excitation pole pair is wound with an excitation winding, the center angle corresponding to each arc-shaped permanent magnet is 90°, and the number of stator tooth poles corresponding to the center angle range of each arc-shaped permanent magnet is six. The three position sensors AX, BX, and CX are set at a center angle of 30°.

[0100] When the motor drive control circuit inputs positive current to all excitation windings, the magnetic polarity of the stator tooth poles is as shown in the following figure. Fig.32 As shown, the rotor and stator are in magnetic equilibrium, that is, the magnetic circuit is the shortest.

[0101] In this embodiment, the six excitation pole pairs in the corresponding central angle range of the same permanent magnet are combined into a current-maintained excitation pole pair unit, and two excitation pole pairs are combined into a current-commutated excitation pole pair unit. In this way, two current-maintained excitation pole pair units and two current-commutated excitation pole pair units are formed. Fig.33 , the motor rotor step angle is 30°.

[0102] In this embodiment, there are six excitation pole pairs in the corresponding central angle range of the same permanent magnet, four excitation pole pairs are combined into a current-maintained excitation pole pair unit, and two excitation pole pairs are combined into a current-commutated excitation pole pair unit. In this way, a total of two current-maintained excitation pole pair units and two current-commutated excitation pole pair units are formed.

[0103] The motor driving principle and operation mechanism of this embodiment are similar to those of the first embodiment, except that, in this embodiment, since the magnetic polarity of the rotor permanent magnet pole pairs is the same, that is, the inner arc surface of the arc-shaped permanent magnet is the same S pole or the same N pole, the magnetic polarity of the tooth poles of the same excitation pole pair of the stator is also the same.

[0104] The steps from starting the motor to the rotor rotating a 30° step angle in this embodiment are shown in the attached figure. Fig.31 To Attachment Fig.35 shown.

[0105] The motor drive control device of this embodiment is shown in the attached Fig. 20 shown.

[0106] The motor driving principle and operation mechanism of this embodiment are similar to those of the first embodiment and will not be described in detail here. Embodiment 4

[0107] The outer rotor of this embodiment is formed by connecting six arc-shaped permanent magnets. Fig.36 , the number of stator tooth poles is 24, with a total of 12 excitation pole pairs, each excitation pole pair is wound with an excitation winding, the center angle corresponding to each arc-shaped permanent magnet is 60°, and the number of stator tooth poles corresponding to the center angle range of each arc-shaped permanent magnet is four. The four excitation pole pairs in the center angle range corresponding to the same permanent magnet are combined into a current-maintained excitation pole pair unit, and one excitation pole pair is a current-commutated excitation pole pair unit. In this way, a total of three current-maintained excitation pole pair units and three current-commutated excitation pole pair units are formed, and the four position sensors AX, BX, CX, and DX are set at a center angle of 15°.

[0108] When the motor drive control circuit inputs positive current to all excitation windings, the magnetic polarity of the stator tooth poles is as shown in the following figure. Fig.36 As shown, the rotor and stator are in magnetic equilibrium, that is, the magnetic circuit is the shortest.

[0109] In this embodiment, there are four excitation pole pairs in the corresponding central angle range of the same permanent magnet, three excitation pole pairs are combined into a current-maintained excitation pole pair unit, and one excitation pole pair is a current-commutated excitation pole pair unit. In this way, a total of three current-maintained excitation pole pair units and three current-commutated excitation pole pair units are formed. Fig.37 , tooth pole 2 to tooth pole 4 and tooth pole 14 To tooth pole 16 , tooth pole 6 to tooth pole 8 and tooth pole 18 To tooth pole 20 , Tooth pole 10 To tooth pole 12 and tooth pole 22 To tooth pole 24 Combined into a current-maintained excitation pole pair unit, tooth pole 1 and tooth pole 13、 Tooth pole 5 and tooth pole 17 , tooth pole 9 and tooth pole 21 Combined into a current commutated excitation pole pair unit.

[0110] The first two steps of the motor from starting to the rotor rotating a 15° step angle in this embodiment are shown in the attached figure. Fig.36 To Attachment Fig.37 As shown, step three is the magnetic polarity state when the current of the current commutation excitation pole pair unit (B unit) is reversed, similar to the attached Fig.34 Step 4 is to rotate the motor rotor 15°, and the rotor permanent magnet and the stator excitation pole pair reach a magnetic equilibrium magnetic polarity state, similar to the attached Fig.35 .

[0111] The motor drive control device of this embodiment is shown in the attached Fig. 20 shown.

[0112] The motor driving principle and operation mechanism of this embodiment are similar to those of the first embodiment and will not be described in detail here.

[0113] The above embodiments are only partial embodiments of the technical solution of the present invention. When the motor is large, the number of rotor permanent magnet pole pairs and the number of stator excitation pole pairs (tooth poles) are also increased accordingly; when the motor is small, the number of rotor permanent magnet pole pairs and the number of stator excitation pole pairs are also reduced accordingly, but the driving principle and operation mechanism of the motor are similar to the above embodiments. When the motor is an inner rotor, the stator excitation pole pair tooth poles surround the permanent magnet pole pairs, and the magnetic polarity of the stator excitation pole pair tooth poles within the central angle range corresponding to the rotor permanent magnet is different from the magnetic polarity of the outer arc surface of the permanent magnet, magnetic balance is achieved, and the driving principle and operation mechanism of the motor are still similar to the above embodiments.

Claims

1. A dynamic phase permanent magnet DC brushless motor, comprising a motor body and a drive control device, characterized in that: The rotor of the motor body is composed of an even number of circular arc permanent magnets, half of which have inner arc surfaces of N poles and outer arc surfaces of S poles, and the other half of which have inner arc surfaces of S poles and outer arc surfaces of N poles. The permanent magnets with inner arc surfaces of N poles and the permanent magnets with inner arc surfaces of S poles are connected to form a circular ring and fixed to the magnetized rotor frame; the stator of the motor body is composed of a stator seat, tooth poles, excitation windings and a position sensor, an even number of tooth poles are evenly distributed on the stator seat in a circular ring shape, tooth slots are arranged between each tooth pole, the center angle between the center lines of adjacent tooth poles is the same, two tooth poles with a center angle of 180° are wound around the same excitation winding to form an excitation pole pair, and the drive control device includes a stator excitation pole pair winding connection port, a switch drive circuit, a single chip microcomputer and a power supply, and the stator excitation pole pair winding connection port is electrically connected to the switch drive circuit , and is electrically connected to the stator excitation pole pair windings. The single-chip microcomputer is electrically connected to both the switch drive circuit and the position sensor. The single-chip microcomputer receives the rotor rotation angle signal given by the position sensor, and edits and combines the stator excitation pole pair windings into two types of excitation pole pair units through the switch drive circuit, one type is the current-maintained excitation pole pair unit, and the other type is the current-commutated excitation pole pair unit. At the same time, the single-chip microcomputer also controls the switch drive circuit to continuously provide a forward drive current to the current-maintained excitation pole pair unit in real time, and to provide a reverse drive current to the current-commutated excitation pole pair unit. Each time the single-chip microcomputer receives a signal from the position sensor, it immediately re-edits and combines the stator excitation pole pair windings through the drive switch circuit, and continuously provides a forward drive current to the newly combined current-maintained excitation pole pair unit, and provides a reverse drive current to the newly combined current-commutated excitation pole pair unit.

2. A dynamic phase permanent magnet DC brushless motor according to claim 1, characterized in that: The number of stator tooth poles and tooth slots are both twenty-four, the center angle between the radial center lines of adjacent tooth poles is 15°, and an excitation winding is arranged in the tooth slots of two tooth poles whose radial center line angles are 180° to each other, that is, twelve excitation pole pairs are formed; the outer rotor of the motor body is composed of two arc-shaped permanent magnets, or four arc-shaped permanent magnets, or six arc-shaped permanent magnets, or an even number of eight or more arc-shaped permanent magnets and a cylindrical magnet-conducting rotor frame, the arc-shaped permanent magnets are butted against each other to form a cylindrical shape and are fixed on the inner surface of the cylindrical magnet-conducting rotor frame, and the magnetic polarities of adjacent permanent magnets in the cylindrical permanent magnets are different, that is, the arc-shaped permanent magnet with an inner arc surface of N pole and an outer arc surface of S pole is butted against the arc-shaped permanent magnet with an inner arc surface of S pole and an outer arc surface of N pole.

3. The dynamic phase permanent magnet DC brushless motor according to claim 1, characterized in that: The position sensors are a plurality of Hall position sensors, which are mounted on a stator seat and are arranged near a joint between two permanent magnets with different magnetic polarities on the rotor.

4. The dynamic phase permanent magnet brushless DC motor according to claim 1, characterized in that: The position sensor is an encoder, which is arranged on a shaft that rotates synchronously with the motor rotor output shaft.

5. The dynamic phase permanent magnet brushless DC motor according to claim 1, characterized in that: The drive control device also includes a display operation device, which includes a display screen and an operation panel. The power supply includes a control power supply and a drive power supply. The switch drive circuit is composed of a plurality of H-bridge DC solid-state drive relays. The H-bridge DC solid-state drive relay is electrically connected to each excitation pole pair winding lead wire of the motor body stator through the excitation pole pair winding lead wire connection port. Each excitation pole pair winding of the motor body stator is connected to an H-bridge DC solid-state drive relay. The single-chip microcomputer is divided into an excitation pole pair matching logic editing single-chip microcomputer and a logic operation single-chip microcomputer. There are two control signal lines between the excitation pole pair ratio logic editing single chip and each H-bridge DC solid-state drive relay circuit, one for controlling the forward current signal line and the other for controlling the reverse current signal line. The excitation pole pair ratio logic editing single chip is also electrically connected to the display operation control device and the logic operation single chip, and the logic operation single chip is also electrically connected to the display operation control device. The control power supply provides low-voltage weak electricity for the single chip and the display operation device. The drive power supply provides drive power for the excitation pole pair winding through the H-bridge DC solid-state drive relay. The excitation pole pair ratio logic editing single chip microcomputer can edit and combine all the stator excitation pole pair windings into two types of excitation pole pair winding units according to the manual editing combination instructions issued by the display control device, one of which is the current-maintained excitation pole pair winding unit, and the other is the current-commutated excitation pole pair winding unit. The excitation pole pair ratio logic editing single chip microcomputer also receives instructions from the logic operation control single chip microcomputer, and continuously provides a positive drive current to the current-maintained excitation pole pair winding unit through the H-bridge DC solid-state drive relay in real time, and provides a positive drive current to the current-commutated excitation pole pair winding unit. The timing of providing reverse drive current to the current commutation excitation pole pair winding unit is related to the rotor rotation angle. The position sensor sends the rotor rotation angle information to the logic operation control microcontroller, thereby realizing the closed-loop control between the editing combination of the rotor rotation angle and the excitation pole pair winding and the driving current provision. Each time the position sensor sends a signal, the microcontroller re-edits and combines each excitation pole pair winding, and the coordinate position of the tooth pole of the current maintenance excitation pole pair winding unit and the current commutation excitation pole pair winding unit of the new edited combination will be deflected to the new coordinate position.

6. A dynamic phase permanent magnet brushless DC motor drive control method, characterized in that: The dynamic phase permanent magnet DC brushless motor comprises a motor body and a drive control device, characterized in that: the rotor of the motor body is composed of an even number of circular arc permanent magnets, half of the even number of circular arc permanent magnets have inner arc surfaces with N poles and outer arc surfaces with S poles, and the other half of the circular arc permanent magnets have inner arc surfaces with S poles and outer arc surfaces with N poles, and the permanent magnets with inner arc surfaces with N poles and inner arc surfaces with S poles are connected to form a circular ring and fixed to the magnet conductive rotor frame; the stator of the motor body is composed of a stator seat, tooth poles, excitation windings and position sensors, the even number of tooth poles are evenly distributed on the stator seat in a circular ring shape, tooth slots are arranged between each tooth pole, the center angle between the center lines of adjacent tooth poles is the same, and two tooth poles with a center angle of 180° are wound around the same excitation winding to form an excitation pole pair, and the drive control device comprises a stator excitation pole pair winding connection port, a switch drive circuit, and a single chip microcomputer. , position sensor and power supply, the stator excitation pole pair winding terminal is electrically connected to the switch drive circuit and the stator excitation pole pair winding, the single chip microcomputer is electrically connected to the switch drive circuit and the position sensor, the single chip microcomputer receives the rotor rotation angle signal given by the position sensor, and edits and combines the stator excitation pole pairs into two types of excitation pole pair units through the switch drive circuit, one type is the current maintenance excitation pole pair unit, and the other type is the current commutation excitation pole pair unit. At the same time, the single chip microcomputer also controls the switch drive circuit to continuously provide a forward drive current to the current maintenance excitation pole pair unit in real time, and to provide a reverse drive current to the current commutation excitation pole pair unit. Each time the position sensor sends a signal, the single chip microcomputer and the switch drive circuit re-edit and combine the stator excitation pole pairs, and the coordinate position of the tooth poles of the newly edited combination of the current maintenance excitation pole pair unit and the current commutation excitation pole pair unit will also change once; When a positive current is simultaneously inputted into the current-maintaining excitation pole pair winding unit and the current-commutating excitation pole pair unit with the same central angle within the central angle range corresponding to each permanent magnet, the magnetic polarity presented by the teeth of the current-maintaining excitation pole pair winding unit and the current-commutating excitation pole pair unit is different from the magnetic polarity of the permanent magnets facing these teeth, and the teeth of the current-maintaining excitation pole pair unit and the current-commutating excitation pole pair unit form the shortest closed magnetic circuit with the facing permanent magnets, the rotor permanent magnets and the stator teeth reach magnetic balance, and the relative position between the rotor and the stator remains unchanged; When the excitation pole pair unit closest to the adjacent permanent magnet joint in the counterclockwise direction is set as the current commutation excitation pole pair unit, the magnetic polarity of the tooth pole of the current commutation excitation pole pair unit will change when the current is commutated, and the current maintaining excitation pole pair unit in the corresponding central angle range of the same permanent magnet maintains the same current direction, and its tooth pole magnetic polarity is different from the tooth pole magnetic polarity of the current commutation excitation pole pair unit closest to the rear end in the counterclockwise direction, and the tooth pole magnetic polarity is the same as the current commutation excitation pole pair unit closest to the front end in the counterclockwise direction. At this moment, the coordinate position of the tooth pole with the same magnetic polarity is deflected in the counterclockwise direction compared with the coordinate position of the tooth pole with the same magnetic polarity in the previous magnetic equilibrium state, the magnetic balance between the rotor permanent magnet and the stator tooth pole is broken, and the magnetic lines of force are twisted and elongated. Since the magnetic lines of force follow the law of the shortest closed loop, the rotor permanent magnet is forced to rotate counterclockwise to achieve magnetic balance between the rotor permanent magnet and the stator tooth pole again; Once the rotor permanent magnet and the stator tooth pole reach magnetic balance again, the position sensor sends a signal to the single chip microcomputer and the switch drive circuit, and the single chip microcomputer and the switch drive circuit re-edit and combine the stator excitation pole pairs, and set the excitation pole pair unit closest to the adjacent permanent magnet joint in the counterclockwise direction as the new current commutation excitation pole pair unit, and set the other excitation pole pairs within the corresponding central angle range of the same permanent magnet as the new current maintenance excitation pole pair unit. After the current of the current commutation excitation pole pair unit is commutated, the above process is repeated, and the coordinate position of the tooth pole with the same magnetic polarity is deflected in the counterclockwise direction again, the magnetic balance between the rotor permanent magnet and the stator tooth pole is broken, and the magnetic lines of force are twisted and elongated. Since the magnetic lines of force follow the law of the shortest closed loop, the rotor is forced to rotate counterclockwise, and the rotor permanent magnet and the stator tooth pole are magnetically balanced again; By repeating the above process continuously, the stator excitation pole forms a counterclockwise rotating magnetic field on the tooth pole, which in turn drives the rotor permanent magnet to rotate synchronously counterclockwise; Similarly, when the single chip microcomputer and the switch driving circuit set the excitation pole pair unit closest to the permanent magnet joint in the clockwise direction as the current commutation excitation pole pair unit, and set the other excitation pole pairs within the corresponding central angle range of the same permanent magnet as the current maintenance excitation pole pair units, under this setting condition, the rotor rotates clockwise; The number of excitation pole pairs formed by the current-maintaining excitation pole pair unit and the current-commutation excitation pole pair unit corresponding to each permanent magnet of the rotor within the central angle range can be manually set and corrected, or can be pre-set by the microcontroller, or can be automatically adjusted in real time in a closed loop by the microcontroller according to the operating status of the motor.

7. A dynamic phase permanent magnet brushless DC motor drive control method according to claim 6, characterized in that: The method for the single chip microcomputer to make real-time adjustments according to the running state of the motor is that, first, when the motor starts, the number of excitation pole pairs set by the excitation pole pair unit closest to the permanent magnet docking point is small, that is, within the corresponding central angle range of the same permanent magnet, the ratio of the number of excitation pole pairs set by the current maintaining excitation pole pair unit to the number of excitation pole pairs set by the current commutation excitation pole pair unit is large. After the motor starts, as the motor load changes or the speed increases, the single chip microcomputer gradually adjusts the number of excitation pole pairs set by the current commutation excitation pole pair commutation unit closest to the permanent magnet docking point, so that the current Maintain the ratio of the number of excitation pole pairs set by the excitation pole pair unit to the number of excitation pole pairs set by the current commutation excitation pole pair unit until the motor reaches the best matching state with the operating equipment; secondly, according to the coordinate angular position of the current maintaining excitation pole pair unit and the current commutation excitation pole pair unit and each permanent magnet on the rotor, close or adjust the magnitude of the positive and negative currents input to the current maintaining excitation pole pair unit and the current commutation excitation pole pair unit in real time, so as to minimize the input current, save energy and improve the working efficiency of the motor while meeting the conditions required for the operation of the motor equipment.

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