Intelligent manufacturing equipment with two degrees of freedom dual-stator switched reluctance motor and control method thereof

Abstract

The application discloses a two-degree-of-freedom double-stator switched reluctance motor for intelligent manufacturing equipment and a control method thereof. In view of the defects of the existing two-degree-of-freedom switched reluctance motor, such as complex structure, serious magnetic field coupling and difficult decoupling control, a new two-degree-of-freedom double-stator switched reluctance motor topology and control strategy are provided. The magnetic field is decoupled from the topology design angle, and the thrust and torque are decoupled from the control angle according to the interval operation characteristics, so that linear, rotary and spiral motions can be realized. The motor topology and control strategy can effectively realize the decoupling of the magnetic field, improve the power density of the system, reduce the thrust and torque pulsation, and have good engineering application prospect.

Description

Technical Field

[0001] This invention relates to a two-degree-of-freedom dual-stator switched reluctance motor topology and its control method for intelligent manufacturing equipment, belonging to the field of switched reluctance motor and its control technology. Background Technology

[0002] Two-degree-of-freedom switched reluctance motors (DRMs) have promising applications in industrial robots, boring machines, home appliances, and textile machinery due to their simple structure, high integration, and good control performance. However, existing DRMs suffer from complex structures and high magnetic circuit coupling between the linear and rotary components, making decoupling difficult and increasing the complexity of motor control, thus limiting their application. To address this, we propose a two-degree-of-freedom dual-stator switched reluctance motor topology. This motor has a compact structure, effectively improving power density; simultaneously, the linear and rotary units are decoupled and can be controlled independently. However, due to the unique structure of this motor, this paper proposes a specific control method that enables the motor to perform linear, rotary, and helical motion independently. Summary of the Invention

[0003] The purpose of this invention is to propose a novel two-degree-of-freedom dual-stator switched reluctance motor and its control method to solve the problems of large volume, severe electromagnetic coupling, and difficulty in decoupling control of existing two-degree-of-freedom motors.

[0004] To achieve the above objectives, the present invention proposes the following technical solution:

[0005] A novel two-degree-of-freedom switched reluctance motor topology includes a rotating stator, a moving part, a linear stator, a linear coil, and a rotating coil. The three parts—the linear stator, the moving part, and the rotating stator—are arranged in a radially nested manner, with the rotating stator in the inner layer, the moving part in the inner layer, and the linear stator in the outer layer.

[0006] In the above technical solution, the linear unit stator consists of three stator rings arranged at equal intervals, and the stator module has an M-type salient pole structure with 18 teeth.

[0007] In the above technical solution, the rotating unit stator has an M-type salient pole structure with 18 teeth.

[0008] In the above technical solution, the mover consists of external mover teeth, a mover yoke, and internal mover teeth, all of which are salient pole structures. The external mover teeth consist of three sets of teeth, with each set of teeth staggered at a 60° interval. The internal mover teeth have 20 teeth and are evenly arranged.

[0009] The novel two-degree-of-freedom dual-stator switched reluctance motor proposed in this invention patent is characterized in that a motor coil is wound on the central tooth of each linear unit stator module, and two stator module coils separated by 180° are connected in series to form a thrust winding. There are a total of 3, namely the A-phase thrust winding, the B-phase thrust winding, and the C-phase thrust winding, wherein the B-phase winding and the C-phase winding are spatially different from the A-phase winding by 60° and -60°, respectively.

[0010] Each rotating unit stator module has a motor coil wound on its central teeth. Two stator modules separated by 180° are connected in series to form a torque winding. There are three windings in total: the D-phase torque winding, the E-phase torque winding, and the F-phase torque winding. The E-phase torque winding and the F-phase torque winding are spatially separated from the D-phase torque winding by 60° and -60°, respectively.

[0011] The novel two-degree-of-freedom switched reluctance motor linear and rotary units are described above. Figure 2 In the magnetic circuit, the magnetic circuits generated by the linear unit and the rotating unit repel each other at the mover yoke, so that the linear unit and the rotating unit are completely decoupled, thus enabling the effective realization of linear motion, rotational motion and helical motion.

[0012] The principle of rotational motion is as follows: taking the complete overlap of the D-phase stator pole and the internal teeth of the mover as an example, when the F-phase is energized, according to the principle of minimum magnetic reluctance, the internal teeth of the mover closest to the F-phase stator pole will be subjected to torque and rotate towards the E-phase stator pole. When the F-phase stator pole and the internal teeth of the mover are completely overlapped, the torque force on the mover is 0. At this time, the F-phase is de-energized and the E-phase is energized, generating a continuous rotational torque, and the mover will rotate in the same direction.

[0013] The linear motion principle is as follows: Taking the complete overlap of the stator pole and the external teeth of the mover in phase A as an example, when phase B is energized, according to the principle of minimum magnetic reluctance, the external teeth of the mover closest to the stator pole of phase B will be pushed and move towards the stator pole of phase B. When the stator pole and the external teeth of the mover in phase B are completely overlapped, the pushing force on the mover is 0. At this time, phase B is de-energized and phase C is energized. The mover will then move linearly in one direction.

[0014] The two-degree-of-freedom switched reluctance motor control method is characterized by independent control between the linear unit and the rotary unit; the linear unit generates torque and thrust components simultaneously when the external teeth of the mover are not fully aligned, and under the joint constraint of the linear position and the angular position control range of the external teeth of the mover, the windings of the linear unit alternately conduct, generating torque T1 and thrust F; the rotary unit and the linear unit are not coupled, and under the constraint of the angular position conduction range of the internal teeth of the mover, the windings of the rotary unit alternately conduct, generating torque T2; the total thrust generated by the linear unit and the rotary unit is F, and the total torque generated is T = T1 + T2; the motor can achieve decoupled control of linear motion, rotary motion and helical motion; including the following steps:

[0015] Step A: Collect the real-time rotational mechanical angle position θ and linear position x of the mover, and determine the excitation state of each phase of the linear unit and the rotating unit; specifically, this includes: Step A-1: ​​Define the mover position when θ = 0 and x = 0. At this time, the stator and mover external teeth of phase A of the linear unit are fully aligned, and the stator and mover internal teeth of phase D of the rotating unit are aligned; in the linear unit, the linear position of the mover external teeth is 75mm per electrical cycle, and the control range is [0, 75mm]; the angular position of the mover external teeth is 60° per electrical cycle, and the control range is [0, 60°]; in the rotating unit, the angular position of the mover internal teeth is 18° per electrical cycle, and the control range is [0, 18°]; Step A-2: In the linear unit, the smaller the difference between the angle of the mover external teeth and the center pole angle of the linear unit stator, the larger the thrust component and the smaller the torque component of the mover; set the angle control range of phase A to θ. ona ∈[0, 5°]∪[55°, 60°], the angle control ranges for phases B and C are the same as those for phase A, θ onb =θ onc =θ ona Step A-3: In the linear unit, set the linear position control interval x for phase A. ona ∈[47mm, 74mm], the control interval length is 27mm; then the control intervals for phase B and phase C are respectively: x onb ∈[0,24mm]∪[72mm,75mm],x onc ∈[22mm, 49mm]; Step A-4, in the linear unit, when the moving part's linear position x∈x onb And the angular position θ∈θ ona The power switch of the A-phase winding power circuit is turned on at the same time; similarly, when the linear position of the mover is x∈x onc And the angular position θ∈θ onc The power switch of the C-phase winding power circuit is turned on when the mover is in a straight position x∈x. ona And the angular position θ∈θ onaThe power switch of the A-phase winding power circuit is turned on; the linear unit is controlled by sequentially turning on BC-CA-AB; at this time, the thrust component generated by the linear unit is F, and the torque component is T1; in step A-5, in the rotating unit, the D-phase conduction interval θ is set. d ∈[7°, 14°], the conduction angle is 7°; then the conduction intervals of phase E and phase F are respectively: θ e ∈[1°, 8°], θ f ∈[13°, 18°]∪[0, 2°]; the control of the rotating unit can be achieved by sequentially turning on ED-DF-FE; at this time, the torque generated by the rotating unit is T2;

[0016] Step B, adjust the thrust component F and torque component T1 generated by the linear unit; the specific steps are as follows: Step B-1, obtain the static flux linkage data ψ1(x, θ, i) when the linear unit winding is energized through static experiments. k1 ); where x is the linear position of the mover, θ is the rotational mechanical angle position of the mover, and i k1 Step B-2: Collect the real-time linear velocity v and angular velocity ω of the mover; Step B-3: Subtract the linear velocity v of the mover from the set reference linear velocity v* to obtain the linear velocity difference Δv; Step B-4: Use the linear velocity difference Δv to obtain the reference voltage u of the linear unit winding through a proportional-integral controller. k1 *; Step B-5, in the linear unit, the phase winding voltage balance equation is shown in equation (1).

[0017]

[0018] Based on equation (1), it can be further expanded as shown in equation (2).

[0019]

[0020] Where R k1 Let be the internal resistance of the phase winding of the linear unit. In step B-6, by integrating the winding voltage balance equation in step B-5, the formula for calculating the phase current can be obtained as shown in equation (3).

[0021]

[0022] in and These are the angular velocity and linear velocity, respectively. In step B-7, the magnetic co-energy of the linear unit phase winding can be calculated using formula (4).

[0023]

[0024] The thrust component F and torque component T1 generated by the linear unit can be obtained by taking the partial derivatives of the magnetic co-energy with respect to the linear position and the angular position, as shown in equations (5) and (6).

[0025]

[0026]

[0027] Step B-8: Using the voltage chopper control method, the actual voltage u of the linear unit phase winding is adjusted. k1 Track u k1 * This allows for real-time adjustment of the phase voltage of the linear unit winding, thereby achieving the purpose of thrust adjustment;

[0028] Step C, adjust the torque T2 generated by the rotating unit; the specific steps are as follows: Step C-1, obtain the static flux linkage data Ψ2(θ, i) when the rotating unit winding is energized through a static experiment. k2 ); where θ is the angular position of the mover, i k2 The phase current of the k-th phase winding of the rotating unit is given; step C-2, the real-time angular velocity ω of the mover is acquired; step C-3, the angular velocity ω of the mover is subtracted from the set reference angular velocity ω* to obtain the angular velocity difference Δω; step C-4, the linear velocity difference Δω is used to obtain the reference value u of the rotating unit winding voltage through a proportional-integral controller. k2 *; Step C-5, in the rotating unit, the phase winding voltage balance equation is shown in equation (7).

[0029]

[0030] It can be further expanded as shown in equation (8).

[0031]

[0032] Where R k2 The internal resistance of the phase winding of the rotating unit is given in step C-6. By integrating the winding voltage balance equation in step C-5, the calculation formula for the phase current (9) can be obtained.

[0033]

[0034] Step C-7, the magnetic common energy of the linear unit phase winding can be calculated by formula (10).

[0035]

[0036] The torque T2 generated by the rotating unit can be obtained by taking the partial derivative of the magnetic co-energy with respect to the angular position, as shown in equation (11).

[0037]

[0038] Step C-8: Using the voltage chopper control method, the actual voltage u of the rotating unit phase winding is adjusted. k2 Track u k2 * This allows for real-time adjustment of the phase voltage of the rotating unit winding, thereby achieving the purpose of torque regulation.

[0039] The method for controlling linear motion independently is as follows: given a reference velocity, the linear motion is controlled by the given reference linear velocity v. * And the required thrust F, by adjusting the reference value u of the phase voltage of the linear unit winding. k1 * , so that the actual voltage u k1 Follow u k1 * The change in torque causes the thrust to reach F, and the torque component T1 generated by the linear unit at this time is obtained. By energizing the rotating unit at this time, the torque T2 generated is opposite to the direction of T1, so that T1+T2=0. At this time, the total torque of the mover is 0, the thrust is F, and the mover performs a single linear motion.

[0040] The control method for individual rotational motion is as follows: the linear unit is turned off, and a reference angular velocity ω is given. * And the required torque T, by adjusting the reference value u of the phase voltage of the rotating unit winding. k2 * , so that the actual voltage u k2 Follow u k2 * The change in torque causes the generated torque to reach T, at which point the mover rotates independently.

[0041] The control method for helical motion is as follows: based on the given reference linear velocity v * And the required thrust F, and the reference angular velocity ω * And the required torque T; by adjusting the reference value u of the phase voltage of the linear unit winding. k1 * , so that the actual voltage u k1 Follow u k1 * The change in voltage causes the generated thrust to reach F, thus obtaining the torque component T1 produced by the linear unit at this time; then, by adjusting the reference value u of the phase voltage of the rotating unit winding... k2 * , so that the actual voltage u k2 Follow u k2 * The change in torque causes the generated torque to reach T2 = T - T1; at this time, the mover undergoes helical motion.

[0042] The beneficial effects of this invention are as follows: the novel dual-stator switched reluctance motor of this invention can decouple the magnetic field generated by the linear stator and the magnetic field generated by the rotating stator. At the same time, the proposed control method can achieve flexible adjustment of thrust and torque, thereby driving the motor to perform linear motion, rotary motion and helical motion, laying the foundation for the promotion and application of two-degree-of-freedom motors in the field of industrial robots. Attached Figure Description

[0043] Figure 1 This is a three-dimensional structural diagram of a two-degree-of-freedom dual-stator switched reluctance motor.

[0044] Figure 2 The magnetic field lines when D is relatively aligned with each other and the magnetic field lines when F is relatively aligned with each other.

[0045] Figure 3 The magnetic field lines are aligned with A.

[0046] Figure 4 The magnetic field lines are aligned with B.

[0047] Figure 5 This refers to the magnetic pole distribution and magnetic field lines of the linear and rotating units during helical motion.

[0048] Figure 6 This is a block diagram of the control method of the present invention.

[0049] Figure 7 This is a waveform diagram of the thrust and torque of the present invention.

[0050] Explanation of reference numerals in the attached figures: Figures 1 to 5 In the diagram, 1 is the linear unit stator, 2 is the linear unit winding, 3 is the external tooth of the mover, 4 is the mover yoke, 5 is the internal tooth of the mover, 6 is the rotating unit stator, 7 is the rotating unit winding, 8 is the magnetic field line of the D phase relative to the alignment position, 9 is the magnetic field line of the F phase relative to the alignment position, 10 is phase D, 11 is phase E, 12 is phase F, 13 is the magnetic field line of the A phase relative to the alignment position, 14 is the magnetic field line of the B phase relative to the alignment position, 15 is phase A, 16 is phase B, 17 is phase C, 18 is the direction of the magnetic field line of phase A during helical motion, 19 is the direction of the magnetic field line of phase D during helical motion, 20 is the direction of current inflow into phase A winding, and 21 is the direction of current outflow from phase A winding. Detailed Implementation

[0051] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0052] The technical solution of a two-degree-of-freedom dual-stator switched reluctance motor and its control method according to the present invention will be described in detail below with reference to the accompanying drawings:

[0053] like Figure 1 The figure shows a three-dimensional structural diagram of a two-degree-of-freedom dual-stator switched reluctance motor, where 1 is the linear unit stator, 2 is the linear unit winding, 3 is the external moving part gear, 4 is the moving part yoke, 5 is the internal moving part gear, 6 is the rotating unit stator, and 7 is the rotating unit winding.

[0054] A novel two-degree-of-freedom dual-stator switched reluctance motor structure includes a rotating stator 6, a mover, a linear stator 1, a linear coil, and a rotating coil. The three parts—the linear stator 1, the mover, and the rotating stator 6—are arranged in a radially nested manner, with the rotating stator 6 in the inner layer, the mover in the inner layer, and the linear stator 1 in the outer layer.

[0055] In the above technical solution, the linear unit stator 1 consists of 3 stator rings arranged at equal intervals, and the stator module has an M-type salient pole structure with 18 teeth.

[0056] In the above technical solution, the rotating unit stator 6 has an M-type salient pole structure with 18 teeth.

[0057] In the above technical solution, the mover consists of external mover teeth 3, mover yoke 4, and internal mover teeth 5, all of which are salient pole structures. The external mover teeth 3 consist of three sets of teeth, with each set of teeth staggered at a 60° interval. The internal mover teeth 3 have 20 teeth and are evenly arranged.

[0058] The feature is that a motor coil is wound on the center tooth of each linear unit stator module 1, and two stator module coils separated by 180° are connected in series to form a thrust winding, a total of 3, namely A-phase thrust winding 15, B-phase thrust winding 16, and C-phase thrust winding 17, wherein the B-phase winding 16 and C-phase winding 17 are spatially different from the A-phase winding 15 by 60° and -60° respectively;

[0059] Each rotating unit stator module has a motor coil wound on its central tooth. Two stator modules with an angle difference of 180° are connected in series to form a torque winding. There are three windings in total: D-phase torque winding 10, E-phase torque winding 11, and F-phase torque winding 12. The E-phase torque winding 10 and F-phase torque winding 11 are spatially separated from the D-phase torque winding 12 by 60° and -60°, respectively.

[0060] The novel two-degree-of-freedom switched reluctance motor linear and rotary units are described above. Figure 5 In the magnetic circuits 18 and 19, the magnetic circuits generated by the linear unit and the rotary unit repel each other at the mover yoke 4, thus completely decoupling the linear unit and the rotary unit. The motor can perform linear motion, rotary motion, and helical motion respectively.

[0061] The principle of the rotational motion described above is as follows: taking the complete overlap of the D-phase stator pole and the internal teeth of the mover as an example, such as... Figure 2 As shown, the magnetic field lines of phase D are 8. When phase F is energized, according to the principle of minimum magnetic reluctance, the internal teeth of the mover closest to the stator pole of phase F will be subjected to torque and rotate towards the stator pole of phase F. When the stator pole of phase F and the internal teeth of the mover are completely aligned, as shown... Figure 2 As shown, the magnetic field line of phase F is 9, and the torque force on the mover is 0. When phase F is de-energized and phase E is energized, the mover will rotate in the same direction. Therefore, by sequentially energizing phases DFE and setting an appropriate switching angle, the mover will continue to rotate in the same direction. Similarly, by changing the energizing sequence to FED, the mover will continuously rotate in the opposite direction.

[0062] The principle of linear motion is as follows: Figure 3 Taking the case where the stator pole of phase A and the external teeth of the mover are completely aligned, when phase B is energized, according to the principle of minimum magnetic reluctance, the external teeth of the mover closest to the stator pole of phase B will be pushed and move towards the stator pole of phase B. When the stator pole of phase B and the external teeth of the mover are completely aligned, the pushing force on the mover is 0. Figure 4 and Figure 5 As shown, phase B is de-energized and phase C is energized at this time. The mover will move in a straight line in one direction.

[0063] The two-degree-of-freedom switched reluctance motor control method is characterized by independent control between the linear unit and the rotary unit. The linear unit generates both torque and thrust components simultaneously when the external teeth of the mover are not fully aligned. Under the joint constraint of the linear position and the angular position control range of the mover's external teeth, the linear unit windings alternately conduct, generating torque T1 and thrust F. The rotary unit is decoupled from the linear unit. Under the constraint of the angular position conduction range of the mover's internal teeth, the rotary unit windings alternately conduct, generating torque T2. The total thrust generated by the linear and rotary units is F, and the total torque is T = T1 + T2. The motor can achieve decoupled control of linear, rotary, and helical motion. The control block diagram is shown below. Figure 6 As shown, it includes the following steps:

[0064] Step A: Collect the real-time angular position θ and linear position x of the mover, and determine the excitation state of each phase of the linear unit and the rotating unit;

[0065] Step A-1: ​​Define the positions of the mover when θ = 0 and x = 0. At this point, the external teeth of the stator and mover in phase A of the linear unit are fully aligned, and the internal teeth of the stator and mover in phase D of the rotating unit are aligned. Figure 1As shown; in the linear unit, the linear position of the moving external tooth is 75mm per electrical cycle, and the control range is [0, 75mm]; the angular position of the moving external tooth is 60° per electrical cycle, and the control range is [0, 60°]; in the rotary unit, the angular position of the moving internal tooth is 18° per electrical cycle, and the control range is [0, 18°];

[0066] Step A-2: In the linear unit, the smaller the difference between the external tooth angle of the mover and the center pole angle of the stator of the linear unit, the larger the thrust component and the smaller the torque component of the mover; set the angle control range of phase A to θ. ona ∈[0, 5°]∪[55°, 60°], the angle control ranges for phases B and C are the same as those for phase A, θ onb =θ onc =θ ona ;

[0067] Step A-3, in the linear unit, set the linear position control interval x for phase A. ona ∈[47mm, 74mm], the control interval length is 27mm; then the control intervals for phase B and phase C are respectively: x onb ∈[0,24mm]∪[72mm,75mm],x onc ∈[22mm, 49mm];

[0068] Step A-4, in the linear unit, when the position of the moving line is x∈x onb And the angular position θ∈θ ona The power switch of the A-phase winding power circuit is turned on at the same time; similarly, when the linear position of the mover is x∈x onc And the angular position θ∈θ onc The power switch of the C-phase winding power circuit is turned on when the mover is in a straight position x∈x. ona And the angular position θ∈θ ona The power switch of the A-phase winding power circuit is turned on at the same time; the linear unit can be controlled by sequentially turning on BC-CA-AB; at this time, the thrust component generated by the linear unit is F, and the torque component is T1;

[0069] Step A-5, in the rotating unit, set the D-phase conduction interval θ. d ∈[7°, 14°], the conduction angle is 7°; then the conduction intervals of phase E and phase F are respectively: θ e ∈[1°, 8°], θ f ∈[13°, 18°]∪[0, 2°]; the control of the rotating unit can be achieved by sequentially turning on ED-DF-FE; at this time, the torque generated by the rotating unit is T2;

[0070] Step B involves adjusting the thrust component F and torque component T1 generated by the linear unit; the specific steps are as follows:

[0071] Step B-1: Obtain the static flux linkage data ψ1(x, θ, i) of the linear unit winding when it is energized through a static experiment. k1 ); where x is the linear position of the mover, θ is the angular position of the mover, and i k1 The phase current of the k-th phase winding of the linear unit;

[0072] Step B-2: Collect the real-time linear velocity v and angular velocity ω of the moving part;

[0073] Step B-3, the linear velocity v of the moving part is compared with the set reference linear velocity v. * Subtracting them gives the difference in linear velocity Δv;

[0074] Step B-4: The linear velocity difference Δv is used to obtain the reference value u of the linear unit winding voltage through a proportional-integral controller. k1 * ;

[0075] Step B-5, in the linear unit, the phase winding voltage balance equation is: Expandable to Where R k1 The internal resistance of the phase winding of the linear unit;

[0076] Step B-6: By integrating the winding voltage balance equation from step B-5, the formula for calculating the phase current can be obtained. in and These are angular velocity and linear velocity, respectively.

[0077] Step B-7, the magnetic common energy of the linear unit phase winding can be obtained from the formula Calculation: The thrust component F and torque component T1 generated by the linear element can be obtained by taking the partial derivatives of the magnetic coenergy with respect to the linear position and angular position, respectively.

[0078] Step B-8: Using the voltage chopper control method, the actual voltage u of the linear unit phase winding is adjusted. k1 Track u k1 * This allows for real-time adjustment of the phase voltage of the linear unit winding, thereby achieving the purpose of thrust adjustment;

[0079] Step C: Adjust the torque T2 generated by the rotating unit; the specific steps are as follows:

[0080] Step C-1: Obtain the static flux linkage data ψ2(θ, i) when the rotating unit winding is energized through a static experiment. k2 ); where θ is the angular position of the mover, i k2 The phase current of the k-th phase winding of the rotating unit;

[0081] Step C-2: Collect the real-time angular velocity ω of the moving part;

[0082] Step C-3, the angular velocity ω of the mover is compared with the set reference angular velocity ω * Subtracting them, we get the difference in angular velocity Δω;

[0083] In step C-4, the linear velocity difference Δω is used to obtain the reference value u of the rotating unit winding voltage through a proportional-integral controller. k2 * ;

[0084] Step C-5, in the rotating unit, the phase winding voltage balance equation is: Expandable to Where R k2 The internal resistance of the phase winding of the rotating unit;

[0085] Step C-6: By integrating the winding voltage balance equation from step C-5, the formula for calculating the phase current can be obtained. Angular velocity;

[0086] Step C-7, the magnetic common energy of the linear unit phase winding can be obtained from the formula Calculation: The torque T2 generated by the rotating unit can be obtained by taking the partial derivative of the magnetic co-energy with respect to the angular position.

[0087] Step C-8: Using the voltage chopper control method, the actual voltage u of the rotating unit phase winding is adjusted. k2 Track u k2 * This allows for real-time adjustment of the phase voltage of the rotating unit winding, thereby achieving the purpose of torque regulation.

[0088] The method for controlling linear motion independently is as follows: given a reference velocity, the linear motion is controlled by the given reference linear velocity v. * And the required thrust F, by adjusting the reference value u of the phase voltage of the linear unit winding. k1 * , so that the actual voltage u k1 Follow u k1 * The change in torque causes the thrust to reach F, and the torque component T1 generated by the linear unit at this time is obtained. By energizing the rotating unit at this time, the torque T2 generated is opposite to the direction of T1, so that T1+T2=0. At this time, the total torque of the mover is 0, the thrust is F, and the mover performs a single linear motion.

[0089] The control method for individual rotational motion is as follows: the linear unit is turned off, and a reference angular velocity ω is given. * And the required torque T, by adjusting the reference value u of the phase voltage of the rotating unit winding. k2 * , so that the actual voltage uk2 Follow u k2 * The change in , which in turn causes the generated torque to reach T, at which point the mover performs independent rotational motion;

[0090] The control method for helical motion is as follows: based on the given reference linear velocity v * And the required thrust F, and the reference angular velocity ω * And the required torque T; by adjusting the reference value u of the phase voltage of the linear unit winding. k1 * , so that the actual voltage u k1 Follow u k1 * The change in voltage causes the generated thrust to reach F, thus obtaining the torque component T1 produced by the linear unit at this time; then, by adjusting the reference value u of the phase voltage of the rotating unit winding... k2 * , so that the actual voltage u k2 Follow u k2 * The change in torque causes the generated torque to reach T2 = T - T1; at this time, the mover undergoes helical motion.

[0091] In summary, the proposed control strategy can effectively control thrust and torque, such as... Figure 7 As shown. Furthermore, this invention features a simple structure, few control variables, and convenient control implementation. The linear and rotary units can be controlled independently, and the thrust and torque can be flexibly adjusted, achieving decoupling of the linear unit. This control method can drive a two-degree-of-freedom dual-stator switched reluctance motor to independently perform linear, rotary, and helical motion.

[0092] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A two-degree-of-freedom dual-stator switched reluctance motor topology for intelligent manufacturing equipment, characterized in that: It includes one rotating stator, one moving unit, one linear stator, linear unit coils, and rotating unit coils. The linear stator, moving unit, and rotating stator are arranged radially nested, with the rotating stator in the inner layer, the moving unit in the middle layer, and the linear stator in the outer layer. The linear stator consists of three stator rings arranged at equal intervals, and the stator module has an M-type salient pole structure with 18 teeth. The rotating stator has a single M-type salient pole structure with 18 teeth. The moving unit consists of moving unit external teeth, moving unit yoke, and moving unit internal teeth, all of which are salient pole structures. The moving unit external teeth consist of three sets of teeth, with each set of teeth staggered by 60° intervals. The moving unit internal teeth have 20 teeth and are evenly arranged. Each linear unit stator module has a motor coil wound on its central tooth. Two stator module coils separated by 180° are connected in series to form a thrust winding. There are a total of three thrust windings: the A-phase thrust winding, the B-phase thrust winding, and the C-phase thrust winding. The system consists of a B-phase thrust winding and a C-phase thrust winding, with the B-phase and C-phase windings spatially separated from the A-phase winding by 60° and -60°, respectively. Each rotating unit stator module has a motor coil wound on its central teeth. Two stator modules separated by 180° are connected in series to form a torque winding, resulting in three torque windings: the D-phase torque winding, the E-phase torque winding, and the F-phase torque winding. The E-phase and F-phase torque windings are spatially separated from the D-phase torque winding by 60° and -60°, respectively. The magnetic circuits generated by the linear and rotating units repel each other at the mover yoke, completely decoupling the linear and rotating units and effectively enabling linear, rotary, and helical motion. The linear unit can generate both thrust and torque simultaneously, while the rotating unit can only generate torque. The thrust output on the mover is generated solely by the linear unit, while the torque output on the mover shaft is generated jointly by the linear and rotating units.

2. A control method for a novel two-degree-of-freedom dual-stator switched reluctance motor as described in claim 1, characterized in that: The linear unit and the rotary unit are independently controlled. When the external teeth of the mover are not fully aligned, the linear unit simultaneously generates torque and thrust components. Under the joint constraint of the linear position and the angular position control range of the mover's external teeth, the linear unit windings alternately conduct, generating torque T1 and thrust F. The rotary unit and the linear unit are not coupled. Under the constraint of the angular position conduction range of the mover's internal teeth, the rotary unit windings alternately conduct, generating torque T2. The total thrust generated by the linear and rotary units is F, and the total torque is T = T1 + T2. The motor can achieve decoupled control of linear, rotary, and helical motion, including the following steps: Step A: Acquire the real-time rotational mechanical angular position θ and linear position x of the mover, and determine the excitation state of each phase of the linear and rotary units; Step B: Adjust the thrust component F and torque component T1 generated by the linear unit; Step C: Adjust the torque T2 generated by the rotary unit; Control the motor to generate thrust alone to achieve linear motion; Control the motor to generate torque alone to achieve rotary motion; Control the motor to generate both thrust and torque simultaneously to achieve helical motion.

3. A strategy for achieving linear motion using the control method as described in claim 2, characterized in that: Given a reference velocity, the linear velocity v passing through the given reference velocity v * And the required thrust F, by adjusting the reference value u of the phase voltage of the linear unit winding. k1 * , so that the actual voltage u k1 Follow u k1 * The change in torque causes the thrust to reach F, and the torque component T1 generated by the linear unit is obtained at this time. By energizing the rotating unit at this time, the torque T2 is generated in the opposite direction to T1, so that T1+T2=0. At this time, the total torque on the mover is 0 and the thrust is F. The mover performs a single linear motion.

4. A strategy for achieving rotational motion using the control method as described in claim 2, characterized in that: Linear elements are closed, producing neither thrust nor torque, and operate at a given reference angular velocity ω. * And the required torque T, by adjusting the reference value u of the phase voltage of the rotating unit winding. k2 * , so that the actual voltage u k2 Follow u k2 * The change in [something] causes the generated torque to reach T; the mover then rotates independently.

5. A strategy for achieving helical motion using the control method as described in claim 2, characterized in that: Based on the given reference linear velocity v * And the required thrust F, and the reference angular velocity ω * And the required torque T; by adjusting the reference value u of the phase voltage of the linear unit winding. k1 * , so that the actual voltage u k1 Follow u k1 * The change in voltage causes the generated thrust to reach F, while simultaneously obtaining the torque component T1 generated by the linear unit; then, by adjusting the reference value u of the phase voltage of the rotating unit winding... k2 * , so that the actual voltage u k2 Follow u k2 * The change in torque causes the generated torque to reach T2 = T - T1; the mover then undergoes helical motion.

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