Primary and secondary hybrid excitation double-pole two-degree-of-freedom flux reversing motor

Abstract

The present invention discloses a primary and secondary hybrid excitation type double salient pole two-degree-of-freedom flux reversal motor, which belongs to the field of motor manufacturing technology and includes a rotating motion stator, a mover and a linear motion stator. The mover is a salient pole permanent magnet structure, and the stator is a hybrid excitation structure. A primary and secondary dual hybrid excitation topology is adopted to realize the flux reversal working principle while adjusting the linear and rotating permanent magnet magnetic fields, effectively increasing the torque density and thrust density of the motor. The mover adopts a modular triangular structure and is fixed on the non-magnetic support of the mover. There is no mover yoke. The rotating permanent magnet magnetic field and the armature magnetic field are only closed along the rotating module of the mover, and the linear permanent magnet magnetic field and the armature magnetic field are only closed along the linear module of the mover. This effectively suppresses the coupling between the traveling wave magnetic field of the linear motion and the rotating magnetic field of the rotary motion, reduces the coupling effect between the magnetic fields under the two-degree-of-freedom motion condition, and is easy to realize decoupling control.

Description

Technical Field

[0001] The present invention belongs to the technical field of motor manufacturing, and in particular relates to a primary-secondary hybrid excitation type double-salient pole two-degree-of-freedom flux reversal motor capable of driving a load to perform rotational, linear or spiral motion. Background Art

[0002] In real life, the requirements for the complexity and drive accuracy of industrial drive systems are becoming increasingly higher. For example, multi-dimensional machining platforms, ship electric propulsion systems, spiral drilling machines, spiral pumps and other devices all require the drive shaft to perform two-degree-of-freedom motion.

[0003] Traditional two-degree-of-freedom drive methods not only involve complex control methods but also suffer from expensive mechanical transmission devices and low positioning accuracy. Linear-rotary two-degree-of-freedom motors are two-degree-of-freedom motors capable of linear, rotational, and spiral motion, representing a typical example of two-dimensional motion motors. However, the structure and performance of existing linear-rotary two-degree-of-freedom motors still require significant optimization.

[0004] Permanent magnet two-degree-of-freedom motors have the advantages of high power density and high efficiency, but the permanent magnet magnetic field is difficult to adjust, which is not conducive to the efficient operation of the motor in multiple working conditions. The invention patent with publication number CN112968565A, "A hybrid excitation double-salient permanent magnet synchronous motor", discloses a hybrid excitation double-salient permanent magnet synchronous motor. The air gap magnetic field of the permanent magnet motor is determined by the magnetic steel and the magnetic circuit permeability. It remains almost constant during operation and is difficult to adjust. This has greatly limited the development and application of permanent magnet motors. The invention patent with publication number CN109742874A, "A linear-rotational two-degree-of-freedom flux switching permanent magnet motor", discloses a linear-rotational two-degree-of-freedom flux switching permanent magnet motor, including a stator and a rotor. The stator is provided with axially and circumferentially magnetized permanent magnets, and both the linear motion winding and the rotary motion winding are provided on the stator; the mover is an axial and circumferential salient pole structure. The rotating armature magnetic field and the linear armature magnetic field inevitably couple in the stator teeth, causing magnetic field distortion, which is not conducive to achieving precise control of linear motion and rotational motion. Summary of the Invention

[0005] The problem to be solved by the present invention is to provide a primary and secondary hybrid excitation double-pole two-degree-of-freedom flux reversal motor that can drive a load to perform rotational, linear or spiral motion, online adjust the primary excitation magnetic field, improve the motor power density and speed regulation range, realize efficient operation of the motor in multiple working conditions, and effectively weaken the magnetic field coupling between the linear motion traveling wave magnetic field and the rotary motion magnetic field, which is easy to decouple and control and convenient to process and assemble.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: a primary and secondary hybrid excitation double-salient pole two-degree-of-freedom flux reversal motor, including a rotary motion stator, a mover and a linear motion stator, wherein the rotary motion stator, the mover and the linear motion stator are all salient pole structures; the rotary motion stator is located in the outer layer, and the linear motion stator is located in the inner layer, and the rotary motion stator and the linear motion stator are nested; the mover is an annular structure, located between the rotary motion stator and the linear motion stator, and forms a double-layer air gap,

[0007] The rotary motion stator includes a rotary motion stator core, a rotary motion armature winding, a rotary motion stator permanent magnet, and a rotary motion stator excitation winding. The rotary motion stator permanent magnet is attached to the tooth slot of the rotary motion stator core to form the rotary motion armature teeth. The rotary motion stator permanent magnet is magnetized radially and in the same magnetization direction. The rotary motion armature winding adopts a concentrated winding structure and is wound on the rotary motion armature teeth. The rotary motion stator excitation winding is wound on the tooth slot of the rotary motion stator core adjacent to the rotary motion stator permanent magnet, and the direction of the excitation magnetic field generated is opposite to the magnetization direction of the rotary motion stator permanent magnet.

[0008] The linear motion stator includes a linear motion stator core, a linear motion annular armature winding, a linear motion stator permanent magnet, and a linear motion stator excitation winding. The linear motion stator permanent magnet is attached to the tooth slot of the linear motion stator core. The linear motion stator permanent magnet is magnetized in the radial direction, and the magnetization direction of the linear motion stator permanent magnet is the same. The linear motion annular armature winding adopts an annular winding structure and is arranged in the slot of the linear motion stator core. The annular linear motion stator excitation winding on the linear motion stator is placed in the slot of the linear motion stator core, adjacent to the linear motion stator permanent magnet, and the excitation magnetic fields generated by the adjacent linear motion stator excitation windings are in opposite directions.

[0009] The mover has salient pole teeth on both the inner and outer sides. The outer mover rotating salient pole teeth are triangular in structure and distributed along the circumference. The mover rotating permanent magnet is attached to the slot of the mover rotating salient pole teeth, and is radially magnetized, and the magnetization direction is consistent with the magnetization direction of the rotating stator permanent magnet; the inner mover linear salient pole teeth are also triangular in structure and distributed along the axial direction. The mover linear permanent magnet is attached to the slot of the mover linear salient pole teeth, and is radially magnetized, and the magnetization direction is consistent with the magnetization direction of the linear stator permanent magnet. The mover rotating salient pole teeth and the mover linear salient pole teeth are jointly fixed (embedded) on the non-magnetic support.

[0010] Preferably, the mover rotating salient pole teeth of the mover adopt a skew pole structure.

[0011] Preferably, the rotary motion stator core, the linear motion stator core, the mover rotary salient pole teeth and the mover linear salient pole teeth are all made of magnetic conductive silicon steel sheets.

[0012] Preferably, the rotary motion stator permanent magnet, mover rotary permanent magnet, linear motion stator permanent magnet and mover linear permanent magnet are made of permanent magnet materials such as neodymium iron boron, samarium cobalt and ferrite.

[0013] Due to the adoption of the above-mentioned technical solution, the present invention adopts a salient-pole permanent magnet structure for the rotor and a hybrid excitation structure for the stator. This employs a primary-secondary dual hybrid excitation topology, achieving the principle of flux reversal while regulating both the linear and rotating permanent magnet magnetic fields, effectively increasing the motor's torque and thrust density. The rotor utilizes a modular triangular structure, fixed to the rotor's non-magnetic support and lacking a rotor yoke. The rotating permanent magnet magnetic field and the armature magnetic field are closed only along the rotor's rotating module, and the linear permanent magnet magnetic field and the armature magnetic field are closed only along the rotor's linear module. This effectively suppresses the coupling between the traveling wave magnetic field of linear motion and the rotating magnetic field of rotary motion, minimizing the coupling effect between magnetic fields under two-degree-of-freedom motion conditions and facilitating decoupling control, thereby resolving the performance issues of existing motors. The primary portion of the hybrid excitation motor's air gap magnetic field is generated by the permanent magnets, while the magnetic field variations required for voltage regulation are achieved by auxiliary excitation windings. Compared to permanent magnet motors, the present invention has the ability to adjust the air gap flux density. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The present invention will be described in detail below with reference to the accompanying drawings and in combination with examples, and the advantages and implementation modes of the present invention will become more apparent. The contents shown in the accompanying drawings are only used to illustrate the present invention and do not constitute any limitation to the present invention. In the accompanying drawings:

[0015] Figure 1 A schematic cross-sectional view of the present invention

[0016] Figure 2 Schematic cross-sectional view of the rotary motion stator of the present invention

[0017] Figure 3 Schematic cross-sectional view of the linear motion stator of the present invention

[0018] Figure 4 Schematic diagram of the distribution of the rotating armature winding of the present invention

[0019] Figure 5 Schematic diagram of the linear armature winding distribution of the present invention

[0020] In the picture

[0021] 1. Rotating stator, 2. Mover, 3. Linear motion stator, 4. Rotating stator core, 5. Rotating armature winding, 6. Rotating stator permanent magnet, 7. Linear motion stator core, 8. Linear motion annular armature winding, 9. Linear motion stator permanent magnet, 10. Mover linear permanent magnet, 11. Mover rotating permanent magnet, 12. Mover rotating salient pole teeth, 13. Mover linear salient pole teeth, 14. Non-magnetic support, 15. Rotating stator excitation winding, 16. Linear motion stator excitation winding. DETAILED DESCRIPTION

[0022] like Figures 1 to 3 As shown, the present invention is a primary and secondary hybrid excitation type double salient pole two-degree-of-freedom flux reversal motor, including a rotary motion stator 1, a mover 2 and a linear motion stator 3, wherein the rotary motion stator 1, the mover 2 and the linear motion stator 3 are all salient pole structures; the rotary motion stator 1 is located in the outer layer, and the linear motion stator 3 is located in the inner layer, and the rotary motion stator 1 and the linear motion stator 3 are nested; the mover 2 is an annular structure, located between the rotary motion stator 1 and the linear motion stator 3, and forms a double-layer air gap;

[0023] The rotary motion stator 1 includes a rotary motion stator core 4, a rotary motion armature winding 5, a rotary motion stator permanent magnet 6, and a rotary motion stator excitation winding 15. The rotary motion stator permanent magnet 6 is attached to the tooth slots of the rotary motion stator core 4 to form the rotary motion armature teeth. The rotary motion stator permanent magnet 6 is magnetized radially and in the same magnetization direction. The rotary motion armature winding 5 adopts a concentrated winding structure and is wound around the rotary motion armature teeth. The rotary motion stator excitation winding 15 is wound in the tooth slots of the rotary motion stator core 4 adjacent to the rotary motion stator permanent magnet 6, and the direction of the excitation magnetic field generated is opposite to the magnetization direction of the rotary motion stator permanent magnet 6.

[0024] The linear motion stator 3 includes a linear motion stator core 7, a linear motion annular armature winding 8, a linear motion stator permanent magnet 9 and a linear motion stator excitation winding 16; the linear motion stator permanent magnet 9 is attached to the tooth slot of the linear motion stator core 7, and the linear motion stator permanent magnet 9 is magnetized in the radial direction, and the magnetization direction of the linear motion stator permanent magnet 9 is the same. The linear motion annular armature winding 8 adopts an annular winding structure and is arranged in the slot of the linear motion stator core 7.

[0025] The annular linear motion stator excitation winding 16 on the linear motion stator 3 is placed in the slot of the linear motion stator core 7, adjacent to the linear motion stator permanent magnet 9, and the excitation magnetic fields generated by adjacent linear motion stator excitation windings 16 are in opposite directions.

[0026] The outer and inner sides of the mover 2 have salient pole teeth. The outer mover rotating salient pole teeth 12 are triangular in structure and distributed along the circumference. The mover rotating permanent magnets 11 are attached to the slots of the mover rotating salient pole teeth 12 and are radially magnetized. The magnetization direction is consistent with the magnetization direction of the rotating stator permanent magnets 6. The inner mover linear salient pole teeth 13 are also triangular in structure and distributed along the axial direction. The mover linear permanent magnets 10 are attached to the slots of the mover linear salient pole teeth 13 and are radially magnetized. The magnetization direction is consistent with the magnetization direction of the linear stator permanent magnets 9. The mover rotating salient pole teeth 12 and the mover linear salient pole teeth 13 are jointly fixed (embedded) on the non-magnetic support 14.

[0027] The mover rotating salient pole teeth 12 of the mover 2 adopt an oblique pole structure; the rotating stator core 4, the linear motion stator core 7, the mover rotating salient pole teeth 12 and the mover linear salient pole teeth 13 are all made of magnetic conductive silicon steel sheets; the rotating stator permanent magnet 6, the mover rotating permanent magnet 11, the linear motion stator permanent magnet 9 and the mover linear permanent magnet 10 are made of permanent magnet materials such as neodymium iron boron, samarium cobalt and ferrite.

[0028] The present invention adopts two sets of armature windings. When only the rotary motion armature winding 5 is energized, it can drive the load to perform rotary motion; when only the linear motion armature winding 8 is energized, it can drive the load to perform axial linear motion; when both are energized at the same time, the electromagnetic torque that drives the rotary motion and the electromagnetic thrust that drives the linear motion work together to realize the spiral motion of the two-degree-of-freedom motor rotor.

[0029] The present invention features a salient-pole permanent magnet rotor and a hybrid excitation stator. This utilizes a primary-secondary dual-hybrid excitation topology, achieving the principle of flux reversal while regulating both the linear and rotating permanent magnet magnetic fields, effectively increasing the motor's torque and thrust density. The rotor utilizes a modular triangular structure, fixed to its non-magnetic support and lacking a rotor yoke. The rotating permanent magnet magnetic field and the armature magnetic field are closed only along the rotor's rotating module, while the linear permanent magnet magnetic field and the armature magnetic field are closed only along the rotor's linear module. This effectively suppresses the coupling between the traveling wave magnetic field of linear motion and the rotating magnetic field of rotary motion, minimizing the coupling effect between magnetic fields under two-degree-of-freedom motion conditions and facilitating decoupling control, thereby resolving performance issues associated with existing motors. The primary air gap magnetic field of the hybrid excitation motor is generated by the permanent magnets, while the magnetic field variations required for voltage regulation are achieved through auxiliary excitation windings. Compared to permanent magnet motors, the present invention offers the ability to adjust air gap flux density.

[0030] like Figure 4 and Figure 5 As shown, the distribution of the rotating armature winding and the linear armature winding in this embodiment are as follows:

[0031] Rotating motion armature winding 5, coil No. 511 of the A-phase armature winding is radially opposite to coil No. 513, coil No. 512 is radially opposite to coil No. 514, and coil No. 511 and coil No. 512 differ in spatial position by 90°. Coil No. 511 and coil No. 512 under phase A are connected in series in the forward direction to form a coil group. Similarly, coil No. 513 and coil No. 514 are connected in series in the forward direction to form another coil group. The two coil groups are connected in series in the forward direction to form the A-phase armature winding; the spatial position of each coil under phase B (coil No. 521, coil No. 523, coil No. 522 and coil No. 524) and phase C (coil No. 531, coil No. 533, coil No. 532 and coil No. 534) is set the same as that of phase A. The spatial position of the three-phase armature winding differs by 60°, so that the phase difference of the three-phase magnetic flux is 120°.

[0032] The linear motion armature winding 8, coils 811, 812, 813, and 814 of the A-phase armature winding are spatially positioned two slots apart, and coil 811 and coil 812 under phase A form one coil group, coil 813 and coil 814 are connected in series in forward direction to form another coil group, and the two coil groups are connected in series in forward direction to form the A-phase armature winding; the settings of the coils of phase B (coils 821, 822, 823, and 824) and phase C (coils 831, 832, 833, and 834) are the same as those of phase A, and the spatial positions of the three phases differ by one slot, so that the phase difference of the three-phase flux is 120°.

[0033] The embodiments of the present invention are described in detail above, but the contents described are only preferred embodiments of the present invention and should not be considered to limit the scope of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of this patent.

Claims

1. A primary and secondary hybrid excitation type double-salient pole two-degree-of-freedom flux reversal motor, characterized by: The invention comprises a rotary motion stator (1), a mover (2) and a linear motion stator (3), wherein the rotary motion stator (1) comprises a rotary motion stator core (4), a rotary motion armature winding (5), a rotary motion stator permanent magnet (6) and a rotary motion stator excitation winding (15); the rotary motion stator excitation winding (15) is wound in a tooth slot adjacent to the rotary motion stator permanent magnet (6) on the rotary motion stator core (4), and the direction of the excitation magnetic field generated is opposite to the magnetization direction of the rotary motion stator permanent magnet (6); the linear motion stator (3) comprises a linear motion stator core (7), a linear motion annular armature winding (8), a linear motion stator permanent magnet (9) and a linear motion stator excitation winding (15). 6); the annular linear motion stator excitation winding (16) on the linear motion stator (3) is placed in the slot of the linear motion stator core (7), adjacent to the linear motion stator permanent magnet (9), and the excitation magnetic fields generated by the adjacent linear motion stator excitation windings (16) are in opposite directions; the rotary motion stator (1), the mover (2) and the linear motion stator (3) are all salient pole structures; the rotary motion stator (1) is located in the outer layer, and the linear motion stator (3) is located in the inner layer, and the rotary motion stator (1) and the linear motion stator (3) are nested; the mover (2) is an annular structure, located between the rotary motion stator (1) and the linear motion stator (3), and forms a double-layer air gap; the rotary motion stator permanent magnet The body (6) is attached to the tooth slot of the rotary motion stator core (4) to form a rotary motion armature tooth. The rotary motion stator permanent magnet (6) is magnetized in the radial direction, and the magnetization direction of the rotary motion stator permanent magnet (6) is the same. The rotary motion armature winding (5) adopts a concentrated winding structure and is wound on the rotary motion armature tooth. The linear motion stator permanent magnet (9) is attached to the tooth slot of the linear motion stator core (7). The linear motion stator permanent magnet (9) is magnetized in the radial direction, and the magnetization direction of the linear motion stator permanent magnet (9) is the same. The linear motion annular armature winding (8) adopts an annular winding structure and is arranged in the slot of the linear motion stator core (7). The inner and outer sides of the mover (2) both have salient pole teeth. The outer rotor rotating salient pole teeth (12) are triangular in structure and distributed along the circumference. The rotor rotating permanent magnets (11) are attached to the slots of the rotor rotating salient pole teeth (12) and are magnetized radially. The magnetization direction is consistent with the magnetization direction of the rotating stator permanent magnets (6). The inner rotor linear salient pole teeth (13) are also triangular in structure and distributed along the axial direction. The rotor linear permanent magnets (10) are attached to the slots of the rotor linear salient pole teeth (13) and are magnetized radially. The magnetization direction is consistent with the magnetization direction of the linear stator permanent magnets (9). The rotor rotating salient pole teeth (12) and the rotor linear salient pole teeth (13) are fixed together on a non-magnetic support (14). The rotor rotating salient pole teeth (12) of the rotor (2) adopt an oblique pole structure.

2. The primary and secondary hybrid excitation type double-salient pole two-degree-of-freedom flux reversal motor according to claim 1, characterized in that: The rotary motion stator core (4), the linear motion stator core (7), the mover rotary salient pole teeth (12), and the mover linear salient pole teeth (13) are all made of magnetically conductive silicon steel sheets.

3. The primary and secondary hybrid excitation type double-salient pole two-degree-of-freedom flux reversal motor according to claim 1, characterized in that: The rotary motion stator permanent magnet (6), the mover rotary permanent magnet (11), the linear motion stator permanent magnet (9) and the mover linear permanent magnet (10) are made of permanent magnet materials such as neodymium iron boron, samarium cobalt and ferrite.

Images