High-expansibility strong-coupling two-degree-of-freedom switched reluctance motor and control method thereof

Abstract

The invention discloses a high-expansibility strong-coupling two-degree-of-freedom switched reluctance motor and a control method thereof, the high-expansibility strong-coupling two-degree-of-freedom switched reluctance motor comprises a plurality of annular stators and rotors, any annular stator has the same structure and adopts an independent enhanced E-type modular structure, and the annular stators and the rotors are arranged in a radial nesting manner; the rotor comprises an annular rotor yoke, salient pole rotor teeth which are uniformly arranged along the surface in the circumferential direction and the axial direction, a rotating shaft and a bearing; and the annular rotor iron core is sleeved on the rotating shaft through the bearing. The annular stator adopts an independent enhanced E-type modular and multi-phase multi-ring structure, so that the operation requirements of the motor under different working conditions are met, the fault-tolerant capability is enhanced, and the power density and efficiency are effectively improved.

Description

Technical Field

[0001] The invention relates to a highly expansible, strongly coupled, two-degree-of-freedom switched reluctance motor topology structure and a control method thereof, belonging to the technical field of switched reluctance motors and their control. Background Art

[0002] The two-degree-of-freedom switched reluctance motor has good application prospects in the fields of industrial robots, boring machines, household appliances and textile machinery due to its simple structure, high integration, high reliability and good control performance. The existing two-degree-of-freedom motor is difficult to decouple due to its complex structure and high coupling of the magnetic circuit between the linear part and the rotating part, which increases the difficulty of motor control and restricts the application of two-degree-of-freedom motors. To this end, we propose a highly scalable and strongly coupled two-degree-of-freedom switched reluctance motor topology. The motor has a compact structure, can effectively improve the power density, has multiple operating modes, and can meet the operation of multiple occasions; at the same time, it adopts an independent enhanced E-type modular structure to effectively reduce the magnetic field coupling strength. By controlling the drive signal of each phase winding on the annular stator, linear motion and rotational motion can be achieved separately. However, due to the unique structure of this type of motor, this paper proposes a specific control method that can enable the motor to perform linear motion, rotational motion and spiral motion separately. Summary of the invention

[0003] The purpose of the present invention is to propose a highly scalable and strongly coupled two-degree-of-freedom switched reluctance motor and a control method thereof, so as to solve the problems of low power density, severe electromagnetic coupling, difficult decoupling control and few operating modes of existing two-degree-of-freedom motors.

[0004] To achieve the above object, the present invention proposes the following technical solutions:

[0005] A highly extensible, strongly coupled, two-degree-of-freedom switched reluctance motor topology structure comprises a plurality of annular stators and movers, wherein the plurality of annular stators have the same structure, and the annular stators and movers are arranged in a radially nested manner; the annular stator comprises an annular stator core and concentrated windings, the annular stator core is composed of 6n (n=1, 2, 3...) independent enhanced E-type stator modules, adjacent enhanced E-type stator modules are spaced 60° / n apart, and the number of annular stator teeth is 18n; the independent enhanced E-type stator core is uniformly provided with trapezoidal slots in the circumferential direction, the opening of the trapezoidal slots faces the axis, the concentrated windings are arranged in the trapezoidal slots, and a single annular stator has a total of 6n concentrated windings; the three tooth poles of the independent enhanced E-type stator module are each provided with two rectangular slots in the axial direction, the opening of the rectangular slots faces the axis; the mover comprises a mover yoke, salient pole mover teeth uniformly arranged in the circumferential direction and the axial direction of the surface, a rotating shaft and a bearing, and the annular stator core is arranged on the rotating shaft through a bearing sleeve.

[0006] In the above technical solution, the annular stators are placed at equal intervals and the same angles along the axial direction.

[0007] In the above technical solution, the bottom of the trapezoidal opening slot of the independent enhanced E-shaped stator module and the bottom of the rectangular opening slot of the tooth pole are both arc surfaces.

[0008] In the above technical solution, the rectangular opening slots of the independent enhanced E-shaped stator module tooth poles are of equal size.

[0009] In the above technical solution, the size of the salient pole mover teeth is adapted to the size of the rectangular opening slots of the enhanced E-type stator module teeth.

[0010] In the above technical solution, the linear unit and the rotary unit share a set of windings, and the stator teeth and the mover teeth simultaneously generate thrust components and torque components when they are not aligned axially and radially.

[0011] The highly scalable strongly coupled two-degree-of-freedom switched reluctance motor proposed in the patent of the present invention is characterized in that, taking m=4, n=1, that is, four annular stators, each annular stator with three phases as an example, each independent enhanced E-type stator module has a winding on the middle tooth, and the windings on the two E-type modules separated by 180° are connected in series, which can respectively constitute the A-phase winding, B-phase winding and C-phase winding on the annular stator 1, the D-phase winding, E-phase winding and F-phase winding on the annular stator 2, the G-phase winding, H-phase winding and I-phase winding on the annular stator 3, and the J-phase winding, K-phase winding and L-phase winding on the annular stator 4; the linear unit and the rotation share a set of windings, and the torque direction generated by the phase windings of the annular stator 1, the annular stator 2, the annular stator 3, and the annular stator 4 are the same, but the thrust direction is different; by controlling the driving signal of the winding, linear motion, rotational motion and spiral motion can be realized independently.

[0012] The linear motion principle is as follows: taking the circumferential alignment of the A-phase stator pole and the mover teeth as an example, when the B-phase and C-phase are energized, according to the principle of minimum magnetic resistance, the mover teeth closest to the B-phase stator pole will be subjected to torque and rotate toward the B-phase stator pole, and the mover teeth closest to the C-phase stator pole will be subjected to torque and rotate toward the C-phase stator pole. The currents of the B-phase winding and the C-phase winding are adjusted so that the two torques are equal in magnitude and opposite in direction, and cancel each other out, and the total torque force received by the mover is 0; at this time, the B-phase stator pole and the C-phase stator pole are not axially aligned with the mover teeth, so the mover will only be subjected to thrust directed to the annular stator 1, and when the B-phase and C-phase stator poles are completely aligned with the mover teeth axially, the thrust received by the mover is 0, and the B-phase and C-phase are de-energized; each phase of the stator is energized in turn to generate continuous thrust, and the mover can achieve axial reciprocating linear motion.

[0013] When power is supplied to each phase of two or more annular stators, the torques generated by individual annular stators can cancel each other out when the motor is in any position, so the motor will not achieve rotational motion but only linear motion. The thrusts generated by each annular stator are in different directions, so the direction of the motor's linear motion is the direction of the annular stator that generates greater thrust.

[0014] In summary, the torques generated by each phase of a single annular stator can offset each other, so the motor can achieve independent linear motion at any position; the linear motion of a single annular stator when energized is suitable for situations where a smaller thrust is required and a short single-sided linear stroke is required; in the case of two annular stators, the linear motion achieved is suitable for situations where a smaller thrust is required and a short axial reciprocating linear stroke is required; in the case of three annular stators, the linear motion achieved is suitable for situations where continuous thrust is required and a longer axial reciprocating linear stroke is required; in the case of four annular stators, the linear motion achieved is suitable for situations where a small thrust pulsation and a long axial reciprocating stroke are required, and the designed motor has the advantage of multi-mode operation.

[0015] The principle of a rotational motion is as follows: when m=1 and there is a single annular stator, take the example of the A-phase stator pole of the annular stator 1 being completely aligned with the mover teeth in the axial and circumferential directions. When the B-phase is energized, according to the principle of minimum magnetic resistance, the mover teeth closest to the B-phase stator pole will be subjected to torque and rotate toward the B-phase stator pole. When the B-phase stator pole and the mover teeth completely overlap, the torque force on the mover is 0. At this time, the B-phase is de-energized and the C-phase is energized, generating continuous torque, and the mover will rotate in the same direction.

[0016] When m=2 and there are two annular stators, the annular stator 1 and the annular stator 2 are symmetrical about the mover as an example. When the B phase is energized, due to the axial misalignment between the stator teeth of each phase of the annular stator 1 and the rotor teeth, an irreversible thrust will be generated, so the motor cannot achieve rotational motion alone; when the B phase and the E phase are energized, according to the principle of minimum magnetic resistance, the rotor teeth closest to the B phase stator pole will be subjected to thrust and move toward the B phase stator pole, and the rotor teeth closest to the E phase stator pole will be subjected to thrust and move toward the E phase stator pole. The two thrusts are equal in magnitude and opposite in direction, and cancel each other out, and the total thrust received by the rotor is 0; at this time, the B phase and the E phase stator poles are not aligned with the rotor teeth in the circumferential direction, and the rotor teeth closest to the B phase and the E phase stator poles will be subjected to torque force and rotate toward the B phase and the E phase stator poles. When the B phase and the E phase stator poles completely overlap, the torque received by the rotor is 0, and at this time, the B phase and the E phase are de-energized, and the C phase and the F phase are energized, generating a continuous rotational torque, and then the rotor will rotate in the same direction.

[0017] When m=3, and there are three annular stators, take the D-phase stator pole of annular stator 2 as an example, which is completely aligned in the axial and circumferential directions. Annular stator 1 and annular stator 3 are symmetrical about annular stator 2. When the B, E, and H phases are energized, according to the principle of minimum magnetic resistance, the mover tooth closest to the B-phase stator pole will receive thrust and move toward the B-phase stator pole, and the mover tooth closest to the H-phase stator pole will receive thrust and move toward the H-phase stator pole. The two thrusts are equal in magnitude and opposite in direction, and cancel each other out. The E-phase stator pole is axially aligned with the mover tooth, and no thrust is generated. Therefore, the mover is subjected to The total thrust is 0; at this time, the stator poles of phase B, phase E, and phase F are not aligned with the circumferential direction of the mover teeth, and the mover teeth closest to the stator poles of phase B, phase E, and phase F will be subjected to torque and rotate toward the stator poles of phase B, phase E, and phase F. When the stator poles of phase B, phase E, and phase F completely overlap, the torque received by the mover is 0. At this time, phase B, phase E, and phase F are powered off, and phase C, phase F, and phase I are powered on, generating a continuous rotational torque, and the mover will rotate in the same direction.

[0018] In summary, the motor can achieve independent rotational motion in the case of a single annular stator, two annular stators, three annular stators or more. However, when a single annular stator is energized, due to the axial misalignment between the stator poles and the mover teeth, an irreversible thrust will be generated, so specific conditions must be met to enable the motor to achieve independent rotational motion; in the case of two annular stators or more, the motor can achieve independent rotational motion at any position. The torque of the motor is different in each case, and different solutions can be selected according to the specific application scenario.

[0019] The spiral motion principle is as follows: take the A-phase stator pole and the mover tooth as an example, which are completely aligned in the circumferential direction but not aligned in the axial direction; at this time, the B-phase is energized, and according to the principle of minimum magnetic resistance, the mover tooth closest to the B-phase stator pole is subjected to torque force to rotate toward the B-phase, and at the same time, because the B-phase is not aligned in the axial direction with the mover tooth, the mover is subjected to thrust directed toward the annular stator 1, and the motor realizes spiral motion directed toward the annular stator 1; when the B-phase is completely aligned in the circumferential and axial direction with the mover tooth, the B-phase is de-energized and the F-phase is energized, and the mover will perform spiral motion in the same direction; the BFGK windings of each phase are energized in turn, and the motor realizes clockwise spiral motion directed toward the annular stator 1.

[0020] The control method of a two-degree-of-freedom switched reluctance motor is characterized in that the linear unit and the rotary unit share a set of windings, and the stator teeth and the mover teeth simultaneously generate thrust components and torque components when they are not aligned in the axial and circumferential directions. Under the common constraints of the axial position and angle of the mover, taking m=3, n=1, that is, three annular stators as an example, the drive signals of the three annular stator phase windings are controlled to generate a torque T 1 、T 2 、T 3 With thrust F1 、F 2 、F 3 ; The torque direction generated by the three annular stator windings is the same, but the thrust direction is different. The total torque generated is T = T 1 +T 2 +T 3 , the total thrust generated is F = F 1 +F 2 +F 3 ; The motor can realize the decoupling control of linear motion, rotational motion and spiral motion; including the following steps:

[0021] Step A, collect the real-time rotating mechanical angle position θ and linear position x of the mover, and determine the excitation state of each phase of the annular stator 1, the annular stator 2 and the annular stator 3; specifically including: step A-1, define the mover position of θ=0 and x=0, at this time, the A-phase stator teeth of the annular stator 1 are completely aligned with the mover teeth in the circumferential direction, the D-phase stator teeth of the annular stator 2 are completely aligned with the mover teeth in the circumferential and axial directions, the G-phase stator teeth of the annular stator 3 are completely aligned with the mover teeth in the circumferential direction, and the annular stator 1 and the annular stator 3 are symmetrical about the annular stator 2; the linear position of the mover has an electrical cycle of 38mm, and the control range is [-19mm, 19mm]; the angular position of the mover has an electrical cycle of 22.5°, and the control range is [0, 22.5°]; step A-2, set the angle control range of phase A to θ ona ∈[0, 5.5°]∪[20.5°, 22.5°], the angle control interval of phase B is θ onb ∈[5.4°,13°], angle control interval θ of phase C onc ∈[12.5°, 21°], the angle control intervals of phases D, E, F and G, H, and I are the same as those of phases A, B, and C respectively; the linear position control intervals of phases A, B, and C are x on ∈[-19mm, 0], linear position control interval x of G phase, H phase, and I phase on ∈[0, 19mm]; Step A-3, when the mover realizes linear motion, it is necessary to energize all windings of a single annular stator; energize all windings of annular stator 1 alone, and the total torque T received by the mover at this time is T 1 =0, total thrust F = F 1 , can realize the linear motion pointing to the annular stator 1; when all the windings of the annular stator 3 are energized separately, the total torque T = T 3 =0, total thrust F = F 3 , can realize the linear motion pointing to the annular stator 3; the above two motions are suitable for large thrust occasions; at the same time, all the windings of the annular stator 1, the annular stator 2 and the annular stator 3 are energized, and the total torque T = T 1 +T 2 +T3 =0, total thrust F = F 1 +F 2 +F 3 By controlling the driving signal of the winding, the linear motion directed to the annular stator 1 and the annular stator 3 can be realized respectively; this motion is suitable for occasions with small thrust; Step A-4, when the linear position x of the mover 1 ∈x on 、x 2 ∈x on 、x 3 ∈x on And the angular position θ 1 ∈θ ona ,θ 2 ∈θ ond ,θ 3 ∈θ ong When the power switch of the A-phase, B-phase and G-phase winding power circuit is turned on; when the linear position of the mover is x 1 ∈x on 、x 2 ∈x on 、x 3 ∈x on And the angular position θ 1 ∈θ onb ,θ 2 ∈θ one ,θ 3 ∈θ onh When the power switch of the B-phase, E-phase and H-phase winding power circuit is turned on; when the linear position of the mover is x 1 ∈x on 、x 2 ∈x on 、x 3 ∈x on And the angular position θ 1 ∈θ onc ,θ 2 ∈θ onf ,θ 3 ∈θ oni When the power switches of the C-phase, F-phase and I-phase winding power circuits are turned on, the torque forces generated by the windings on the annular stator 1, the annular stator 2 and the annular stator 3 are in the same direction, and the thrust forces of the annular stator 1 and the annular stator 3 are in opposite directions. By controlling the driving signal of the windings, the torque and thrust forces received by the mover can be changed, thereby realizing rotational motion and linear motion independently.

[0022] Step B, adjusting the thrust component F generated by a single annular stator by adjusting the driving signal of the winding 1 、F 2 、F 3 And the torque component T 1 、T 2 、T3 ; The specific steps are as follows: Step B-1, obtain the static flux data ψ of the three annular stator windings when they are energized through a static experiment 1 (x 1 ,θ 1 ,i k1 ),ψ 2 (x 2 ,θ 2 ,i k2 ) and ψ 3 (x 3 ,θ 3 ,i k3 ); where x 1 、x 2 and x 3 is the linear position of the mover relative to the annular stator 1, annular stator 2 and annular stator 3, θ 1 ,θ 2 and θ 3 is the rotational mechanical angular position of the mover relative to the annular stator 1, the annular stator 2 and the annular stator 3, where θ 1 =θ 2 =θ 3 ,i k1 is the phase current of the k-th phase winding of the annular stator 1, i k2 is the phase current of the k-th phase winding of the annular stator 2, i k3 is the phase current of the k-th phase winding of the annular stator 3; step B-2, collecting the real-time linear velocity v and angular velocity ω of the mover; step B-3, subtracting the linear velocity v of the mover from the set reference linear velocity v* to obtain the linear velocity difference Δv; subtracting the angular velocity ω of the mover from the set reference angular velocity ω* to obtain the angular velocity difference Δω; step B-4, the linear velocity difference Δv, the angular velocity difference Δω, through the proportional-integral controller, obtain the annular stator 1 winding voltage reference value u k1 *, Ring stator 2 winding voltage reference value u k2 * and the reference value of the voltage of the ring stator 3 winding u k3 *; Step B-5, the phase winding voltage balance equations of the annular stator 1, the annular stator 2 and the annular stator 3 are shown in equations (1), (2) and (3).

[0023]

[0024] Based on equations (1), (2) and (3), they can be further expanded as shown in equations (4), (5) and (6).

[0025]

[0026] Where R k1 , R k2 and R k3are the phase winding internal resistances of the annular stator 1, the annular stator 2 and the annular stator 3. Step B-6: By integrating the winding voltage balance equation in step B-5, the calculation formulas of the phase currents can be obtained as shown in equations (7), (8) and (9).

[0027]

[0028] in and are the angular velocities of annular stator 1, annular stator 2, and annular stator 3, respectively, and and are the linear speeds of the annular stator 1, the annular stator 2 and the annular stator 3. Step B-7, the magnetic energy of the phase windings of the annular stator 1, the annular stator 2 and the annular stator 3 can be calculated by formulas (10), (11) and (12).

[0029]

[0030] The thrust F generated by the annular stator 1, annular stator 2 and annular stator 3 1 、F 2 and F 3 , torque T 1 、T 2 and T 3 It can be obtained by taking partial derivatives of the magnetic common energy with respect to the linear position and the angular position, as shown in equations (13), (14), (15), (16), (17) and (18).

[0031]

[0032] Step B-8, using the voltage chopping control method, let the actual voltage u of the phase windings of the annular stator 1, the annular stator 2 and the annular stator 3 be k1 、u k2 and u k3 Track u k1 *、u k2 * and u k3 *, and then adjust the phase voltage of the windings of the annular stator 1, the annular stator 2 and the annular stator 3 in real time, so as to achieve the purpose of adjusting the thrust and torque;

[0033] Step C, based on the fact that the torques generated by the three stator windings are in the same direction and the thrusts of the annular stator 1 and the annular stator 3 are in opposite directions, the torques generated by the control motors are offset against each other, and thrust is generated alone to achieve linear motion; the thrusts generated by the control motors are offset against each other, and torque is generated alone to achieve rotational motion; the control motors are simultaneously generated to generate thrust and torque to achieve spiral motion; the specific steps are as follows:

[0034] Step C-1, the linear motion control method is to:* and the required thrust F, by adjusting the phase voltage reference value u of the windings of the annular stator 1, annular stator 2 and annular stator 3 k1 * 、u k2 * and u k3 *, so that the actual voltage u k1 、u k2 and u k3 Follow u k1 * 、u k2 * and u k3 *Change, so that the total thrust of the two stators acting on the mover reaches F = F 1 +F 2 +F 3 ; The total torque acting on the mover reaches T = T 1 +T 2 +T 3 =0, at this time the mover performs a single linear motion; it is worth noting that, under normal circumstances, when the mover performs a single linear motion, because the thrust directions of the annular stator 1 and the annular stator 3 acting on the mover are opposite, it is only necessary to energize all the windings of a single stator.

[0035] Step C-2, the method for realizing rotational motion control alone is: by giving a reference angular velocity ω * and the required torque T, by adjusting the phase voltage reference value u of the windings of the annular stator 1, annular stator 2 and annular stator 3 k1 * 、u k2 * and u k3 *, so that the actual voltage u k1 、u k2 and u k3 Follow u k1 * 、u k2 * and u k3 *Change, so that the total thrust of the two stators acting on the mover reaches F = F 1 +F 2 +F 3 =0; the total torque acting on the mover reaches T = T 1 +T 2 +T 3 , at this time, the mover performs a single rotation motion; it is worth noting that, under normal circumstances, when the mover performs a single rotation motion, energizing only the corresponding winding of a single annular stator will produce an irreversible thrust, so it is necessary to energize the corresponding windings of the two annular stators at the same time.

[0036] Step C-3, the control method for realizing the spiral motion is: according to the given reference linear velocity v * And the required thrust F, reference angular velocity ω * and the required torque T; by adjusting the phase voltage reference value u of the annular stator 1, annular stator 2 and annular stator 3 k1 * 、u k2 * and u k3 *, so that the actual voltage u k1 、u k2 and u k3 Follow u k1 * 、u k2 * and u k3 *Change, so that the total thrust of the three annular stators acting on the mover reaches F = F 1 +F 2 +F 3 ; The total torque acting on the mover reaches T = T 1 +T 2 +T 3 , at this time the mover performs spiral motion; it is worth noting that the spiral motion achieved by energizing the winding of a single annular stator is suitable for occasions requiring small torque and large thrust; the spiral motion achieved by energizing the windings of multiple annular stators is suitable for occasions requiring large torque and small thrust.

[0037] The beneficial effects of the present invention are as follows: the highly scalable and strongly coupled two-degree-of-freedom switched reluctance motor of the present invention can realize axial reciprocating spiral motion, independent linear motion and independent rotational motion, satisfying various motion occasions; the annular stator adopts an independent enhanced E-type modular structure, which can effectively reduce the magnetic field coupling strength; the independent enhanced E-type module effectively solves the problem of small thrust component generated by the motor; at the same time, the proposed control method can realize flexible adjustment of thrust and torque, and then can drive the motor to perform linear motion, rotational motion and spiral motion, laying the foundation for the promotion and application of two-degree-of-freedom motors in the field of industrial robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a schematic diagram of the overall structure of a highly scalable and strongly coupled two-degree-of-freedom switched reluctance motor.

[0039] Figure 2 This is the overall schematic diagram of the ring-shaped stator.

[0040] Figure 3 Schematic diagram of concentrated winding.

[0041] Figure 4 Schematic diagram of the mover structure.

[0042] Figure 5 It is the magnetic field lines of phases A, B, and C when phase A is completely aligned in the circumferential direction.

[0043] Figure 6 It is the magnetic lines of force of phase A and phase B when phase A is completely aligned in the axial and circumferential directions.

[0044] Figure 7 It is the magnetic lines of force of phase C when phase B is completely aligned in axial and circumferential directions.

[0045] Figure 8 This is a schematic diagram showing that stator 1 and stator 2 are symmetrical about the mover.

[0046] Fig. 9 This is a schematic diagram of the D phase of stator 2 when it is completely aligned in the axial and circumferential directions.

[0047] Fig.10 This is a schematic diagram of the initial position of the spiral motion when the motor is powered on when the A phase is fully aligned in the circumferential direction.

[0048] Description of reference numerals:

[0049] 1. Annular stator; 11. Enhanced E-type stator module; 111. E-type stator teeth; 112. Trapezoidal open slots; 113. Rectangular open slots; 2. Concentrated windings; 3. Mator; 31. Mator yoke; 32. Salient-pole mator teeth; 4. Rotating shaft; 5. Bearing; 6. Magnetic lines of force of phase A when phase A is circumferentially aligned; 7. Magnetic lines of force of phase B when phase A is circumferentially aligned; 8. Magnetic lines of force of phase C when phase A is circumferentially aligned; 9. Magnetic lines of force of phase A when phase A is fully aligned axially and circumferentially; 10. Magnetic lines of force of phase B when phase A is fully aligned axially and circumferentially; 11. Magnetic lines of force of phase B when phase B is fully aligned axially and circumferentially; 12. Magnetic lines of force of phase C when phase B is fully aligned axially and circumferentially. DETAILED DESCRIPTION

[0050] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0051] The following is a detailed description of the technical solution of a highly scalable, strongly coupled, two-degree-of-freedom switched reluctance motor and a control method thereof according to the present invention in conjunction with the accompanying drawings:

[0052] like Figure 1 As shown, it is a schematic diagram of the overall structure of a highly scalable and strongly coupled two-degree-of-freedom switched reluctance motor, wherein 1 is an annular stator, 2 is a concentrated winding, 3 is a mover, 4 is a rotating shaft, and 5 is a bearing.

[0053] A highly extensible, strongly coupled, two-degree-of-freedom switched reluctance motor structure, comprising a plurality of annular stators (1) and movers (3), wherein the plurality of annular stators have the same structure, and the annular stators and movers are arranged in a radially nested manner; the annular stator comprises an annular stator core and a concentrated winding (2), the annular stator core is composed of six independent enhanced E-type stator modules (11), adjacent enhanced E-type stator modules are spaced 60 degrees apart, and the number of teeth of the annular stator is 18; the independent enhanced E-type stator core is uniformly spaced in the circumferential direction. There are trapezoidal slots, the opening of the trapezoidal slots faces the axis, concentrated windings are arranged in the trapezoidal slots, and a single annular stator has a total of 6 concentrated windings, and two concentrated windings spaced 180 degrees apart are connected in series to form one phase; the three tooth poles of the independent enhanced E-type stator module are each provided with 2 rectangular slots along the axial direction, and the opening of the rectangular slots faces the axis; the mover comprises a mover yoke (31), salient pole mover teeth (32) uniformly arranged along the circumferential direction and the axial direction of the surface, a rotating shaft (4) and a bearing (5), and the annular stator core is arranged on the rotating shaft through a bearing sleeve.

[0054] In the above technical solution, the annular stators are placed at equal intervals and the same angles in the axial direction.

[0055] In the above technical solution, the bottom of the trapezoidal opening slot (112) of the independent enhanced E-type stator module and the bottom of the rectangular opening slot (113) of the tooth pole are both arc surfaces.

[0056] In the above technical solution, the rectangular slots of the independent enhanced E-type stator module tooth poles are of equal size.

[0057] In the above technical solution, the linear unit and the rotary unit share a set of windings, and the stator teeth and the mover teeth simultaneously generate thrust components and torque components when they are not aligned axially and radially.

[0058] The highly scalable strongly coupled two-degree-of-freedom switched reluctance motor proposed in the patent of the present invention is characterized in that, taking m=4, n=1, that is, four annular stators, each annular stator with three phases as an example, each independent enhanced E-type stator module has a winding on the middle tooth, and the windings on the two E-type modules separated by 180° are connected in series, which can respectively constitute the A-phase winding, B-phase winding and C-phase winding on the annular stator 1, the D-phase winding, E-phase winding and F-phase winding on the annular stator 2, the G-phase winding, H-phase winding and I-phase winding on the annular stator 3, and the J-phase winding, K-phase winding and L-phase winding on the annular stator 4; the linear unit and the rotation share a set of windings, and the torque direction generated by the phase windings of the annular stator 1, the annular stator 2, the annular stator 3, and the annular stator 4 are the same, but the thrust direction is different; by controlling the driving signal of the winding, linear motion, rotational motion and spiral motion can be realized independently.

[0059] The linear motion principle is: Figure 5, taking the circumferential alignment of the A-phase stator pole and the mover teeth as an example, when the B-phase and C-phase are energized at this time, according to the principle of minimum magnetic resistance, the mover tooth closest to the B-phase stator pole will be subjected to torque and rotate toward the B-phase stator pole, and the mover tooth closest to the C-phase stator pole will be subjected to torque and rotate toward the C-phase stator pole. The current of the B-phase winding and the C-phase winding is adjusted so that the two torques are equal in magnitude and opposite in direction, and cancel each other out, and the total torque force on the mover is 0; at this time, the B-phase stator pole and the C-phase stator pole are not axially aligned with the mover teeth, so the mover will only be subjected to thrust directed to the annular stator 1. When the B-phase and C-phase stator poles are completely aligned with the mover teeth axially, the thrust on the mover is 0, and the B-phase and C-phase are de-energized at this time; each phase of the annular stator is energized in turn to generate continuous thrust, and the mover can achieve axial reciprocating linear motion.

[0060] When power is supplied to each phase of two or more annular stators, the torques generated by individual annular stators can cancel each other out when the motor is in any position, so the motor will not achieve rotational motion but only linear motion. The thrusts generated by each annular stator are in different directions, so the direction of the motor's linear motion is the direction of the annular stator that generates greater thrust.

[0061] In summary, the torques generated by each phase of a single annular stator can offset each other, so the motor can achieve independent linear motion at any position; the linear motion of a single annular stator when powered on is suitable for occasions where a small thrust is required and a short single-sided linear stroke is needed; in the case of two annular stators, the linear motion achieved is suitable for occasions where a small thrust is required and a short axial reciprocating linear stroke is needed; in the case of three annular stators, the linear motion achieved is suitable for occasions where continuous thrust is required and a long axial reciprocating linear stroke is needed; in the case of four annular stators, the linear motion achieved is suitable for occasions where small thrust pulsation is required and a long axial reciprocating stroke is needed. The designed motor has the advantage of multi-mode operation.

[0062] The rotational motion principle is: when m=1 and a single annular stator is used, the stator pole of the A phase of the stator 1 is completely aligned with the rotor teeth in the axial and circumferential directions. Figure 6 As shown, the magnetic lines of force of phase A are 9, and the magnetic lines of force of phase B are 10. When phase B is energized, according to the principle of minimum magnetic resistance, the mover tooth closest to the stator pole of phase B will be subjected to torque and rotate toward the stator pole of phase B. When the stator pole of phase B is completely aligned with the mover tooth, as shown in Figure 7 As shown in the figure, the magnetic force lines of phase B are 11, the magnetic force lines of phase C are 12, and the torque force on the mover is 0. At this time, phase B is de-energized and phase C is energized, generating continuous torque, and the mover will rotate in the same direction. Therefore, by energizing phases ABC in sequence and setting the appropriate switching angle, the mover will continue to rotate in the same direction. Similarly, by changing the order of energization, the mover will continue to rotate in the opposite direction.

[0063] When m=2 and two annular stators are used, Figure 8 As shown, the annular stator 1 and the annular stator 2 are symmetrical about the mover as an example. When the B phase is energized, due to the axial misalignment between the stator teeth of each phase of the annular stator 1 and the rotor teeth, an irreversible thrust will be generated, so the motor cannot achieve rotational motion alone; when the B phase and the E phase are energized, according to the principle of minimum magnetic resistance, the rotor teeth closest to the B phase stator pole will be subjected to thrust and move toward the B phase stator pole, and the rotor teeth closest to the E phase stator pole will be subjected to thrust and move toward the E phase stator pole. The two thrusts are equal in magnitude and opposite in direction, and cancel each other out, and the total thrust received by the rotor is 0; at this time, the B phase and the E phase stator poles are not aligned with the rotor teeth in the circumferential direction, and the rotor teeth closest to the B phase and the E phase stator poles will be subjected to torque force and rotate toward the B phase and the E phase stator poles. When the B phase and the E phase stator poles completely overlap, the torque received by the rotor is 0, and at this time, the B phase and the E phase are de-energized, and the C phase and the F phase are energized, generating a continuous rotational torque, and then the rotor will rotate in the same direction.

[0064] When m=3 and there are three annular stators, Fig. 9 As shown, the D-phase stator pole of stator 2 is completely aligned in the axial and circumferential directions. Annular stator 1 and annular stator 3 are symmetrical about annular stator 2. When B, E, and H phases are energized, according to the principle of minimum magnetic resistance, the mover tooth closest to the B-phase stator pole will receive thrust and move toward the B-phase stator pole, and the mover tooth closest to the H-phase stator pole will receive thrust and move toward the H-phase stator pole. The two thrusts are equal in magnitude and opposite in direction, and cancel each other out. The E-phase stator pole is axially aligned with the mover tooth, and no thrust is generated. Therefore, the mover is subject to The total thrust is 0; at this time, the stator poles of phase B, phase E, and phase F are not aligned with the circumferential direction of the mover teeth, and the mover teeth closest to the stator poles of phase B, phase E, and phase F will be subjected to torque and rotate toward the stator poles of phase B, phase E, and phase F. When the stator poles of phase B, phase E, and phase F completely overlap, the torque received by the mover is 0. At this time, phase B, phase E, and phase F are powered off, and phase C, phase F, and phase I are powered on, generating a continuous rotational torque, and the mover will rotate in the same direction.

[0065] In summary, the motor can achieve independent rotational motion in the case of a single annular stator, two annular stators, three annular stators or more. However, when a single annular stator is energized, due to the axial misalignment between the stator poles and the mover teeth, an irreversible thrust will be generated, so specific conditions must be met to enable the motor to achieve independent rotational motion; in the case of two annular stators or more, the motor can achieve independent rotational motion at any position. The torque of the motor is different in each case, and different solutions can be selected according to the specific application scenario.

[0066] The spiral motion principle is as follows: Fig.10 As shown, take the case where the stator pole of phase A is completely aligned with the rotor tooth in the circumferential direction but not in the axial direction as an example; at this time, phase B is energized, and according to the principle of minimum magnetic resistance, the rotor tooth closest to the stator pole of phase B is subjected to torque force to rotate toward phase B. At the same time, because phase B is not axially aligned with the rotor tooth, the rotor will be subjected to thrust directed toward the annular stator 1, and the motor will achieve spiral motion directed toward the annular stator 1; when phase B is completely aligned with the rotor tooth in the circumferential and axial directions, phase B is de-energized and phase F is energized, and the rotor will perform spiral motion in the same direction; each phase winding of BFGK is energized in turn, and the motor achieves clockwise spiral motion directed toward the annular stator 1.

[0067] The control method of a two-degree-of-freedom switched reluctance motor is characterized in that the linear unit and the rotary unit share a set of windings, and the stator teeth and the mover teeth simultaneously generate thrust components and torque components when they are not aligned in the axial and circumferential directions. Under the common constraints of the axial position and angle of the mover, taking m=3, n=1, that is, three annular stators as an example, the drive signals of the three annular stator phase windings are controlled to generate a torque T 1 、T 2 、T 3 With thrust F 1 、F 2 、F 3 ; The torque direction generated by the three annular stator windings is the same, but the thrust direction is different. The total torque generated is T = T 1 +T 2 +T 3 , the total thrust generated is F = F 1 +F 2 +F 3 ; The motor can realize the decoupling control of linear motion, rotational motion and spiral motion; including the following steps:

[0068] Step A, collecting the real-time rotational mechanical angle position θ and the linear position x of the mover, and determining the excitation state of each phase of the annular stator 1, the annular stator 2 and the annular stator 3; the specific steps are as follows:

[0069] Step A-1, define the position of the mover when θ=0 and x=0, at which time the A-phase stator teeth of the annular stator 1 are completely aligned with the mover teeth in the circumferential direction, the D-phase stator teeth of the annular stator 2 are completely aligned with the mover teeth in the circumferential and axial directions, the G-phase stator teeth of the stator 3 are completely aligned with the mover teeth in the circumferential direction, and the annular stator 1 and the annular stator 3 are symmetrical about the annular stator 2; the linear position of the mover is 38 mm in one electrical cycle, and the control interval is [-19 mm, 19 mm]; the angular position of the mover is 22.5° in one electrical cycle, and the control interval is [0, 22.5°];

[0070] Step A-2, set the angle control interval of phase A to θ ona∈[0, 5.5°]∪[20.5°, 22.5°], the angle control interval of phase B is θ onb ∈[5.4°,13°], angle control interval θ of phase C onc ∈[12.5°, 21°], the angle control intervals of phases D, E, F and G, H, and I are the same as those of phases A, B, and C respectively; the linear position control intervals of phases A, B, and C are x on ∈[-19mm, 0], linear position control interval x of G phase, H phase, and I phase on ∈[0, 19mm];

[0071] Step A-4, when the linear position of the actuator is x 1 ∈x on 、x 2 ∈x on 、x 3 ∈x on And the angular position θ 1 ∈θ ona ,θ 2 ∈θ ond ,θ 3 ∈θ ong When the power switch of the A-phase, B-phase and G-phase winding power circuit is turned on; when the linear position of the mover is x 1 ∈x on 、x 2 ∈x on 、x 3 ∈x on And the angular position θ 1 ∈θ onb ,θ 2 ∈θ one ,θ 3 ∈θ onh When the power switch of the B-phase, E-phase and H-phase winding power circuit is turned on; when the linear position of the mover is x 1 ∈x on 、x 2 ∈x on 、x 3 ∈x on And the angular position θ 1 ∈θ onc ,θ 2 ∈θ onf ,θ 3 ∈θ oni When the power switches of the C-phase, F-phase and I-phase winding power circuits are turned on, the torque forces generated by the windings on the annular stator 1, the annular stator 2 and the annular stator 3 are in the same direction, and the thrust directions of the stator 1 and the stator 3 are opposite. By controlling the driving signal of the winding, the torque and thrust received by the mover can be changed, thereby realizing rotational motion and linear motion independently.

[0072] Step B, adjusting the thrust component F generated by a single annular stator by adjusting the driving signal of the winding 1 、F 2 、F 3 And the torque component T 1 、T 2 、T 3 ; The specific steps are as follows:

[0073] Step B-1, obtain the static flux data ψ of the three annular stator windings when they are energized through static experiments 1 (x 1 ,θ 1 ,i k1 ),ψ 2 (x 2 ,θ 2 ,i k2 ) and ψ 3 (x 3 ,θ 3 ,i k3 ); where x 1 、x 2 and x 3 is the linear position of the mover relative to the annular stator 1, annular stator 2 and annular stator 3, θ 1 ,θ 2 and θ 3 is the rotational mechanical angular position of the mover relative to the annular stator 1, the annular stator 2 and the annular stator 3, where θ 1 =θ 2 =θ 3 ,i k1 is the phase current of the k-th phase winding of the annular stator 1, i k2 is the phase current of the k-th phase winding of the annular stator 2, i k3 is the phase current of the k-th phase winding of the annular stator 3;

[0074] Step B-2, collecting the real-time linear velocity v and angular velocity ω of the mover;

[0075] Step B-3, subtracting the linear velocity v of the mover from the set reference linear velocity v* to obtain a linear velocity difference Δv; subtracting the angular velocity ω of the mover from the set reference angular velocity ω* to obtain an angular velocity difference Δω;

[0076] Step B-4, the linear velocity difference Δv and the angular velocity difference Δω are used to obtain the annular stator 1 winding voltage reference value u through a proportional integral controller. k1 *, Ring stator 2 winding voltage reference value u k2 * and the reference value of the voltage of the ring stator 3 winding u k3 *;

[0077] Step B-5, the phase winding voltage balance equations of the annular stator 1, the annular stator 2 and the annular stator 3 are:

[0078]

[0079] Based on equations (1), (2) and (3), they can be further expanded as shown in equations (4), (5) and (6):

[0080]

[0081] Where R k1 , R k2 and R k3 They are the internal resistances of the phase windings of the annular stator 1, the annular stator 2 and the annular stator 3 respectively.

[0082] Step B-6, by integrating the winding voltage balance equation in step B-5, the calculation formula of the phase current can be obtained as shown in equations (7), (8) and (9):

[0083]

[0084]

[0085] in and are the angular velocities of annular stator 1, annular stator 2, and annular stator 3, respectively, and and are the linear velocities of stator 1, stator 2 and stator 3 respectively.

[0086] In step B-7, the magnetic energy of the phase windings of the annular stator 1, the annular stator 2 and the annular stator 3 can be calculated by formulas (10), (11) and (12).

[0087]

[0088] The thrust F generated by the annular stator 1, annular stator 2 and annular stator 3 1 、F 2 and F 3 , torque T 1 、T 2 and T 3 It can be obtained by taking partial derivatives of the magnetic common energy with respect to the linear position and the angular position, as shown in equations (13), (14), (15), (16), (17) and (18).

[0089]

[0090] Step B-8, using the voltage chopping control method, let the actual voltage u of the phase windings of the annular stator 1, the annular stator 2 and the annular stator 3 be k1 、uk2 and u k3 Track u k1 *、u k2 * and u k3 *, and then adjust the phase voltage of the windings of the annular stator 1, the annular stator 2 and the annular stator 3 in real time, so as to achieve the purpose of adjusting the thrust and torque;

[0091] Step C, based on the fact that the torques generated by the three stator windings are in the same direction and the thrusts of the annular stator 1 and the annular stator 3 are in opposite directions, the torques generated by the control motors are offset against each other, and thrust is generated alone to achieve linear motion; the thrusts generated by the control motors are offset against each other, and torque is generated alone to achieve rotational motion; the control motors are simultaneously generated to generate thrust and torque to achieve spiral motion; the specific steps are as follows:

[0092] Step C-1, the linear motion control method is to: * and the required thrust F, by adjusting the phase voltage reference value u of the windings of the annular stator 1, annular stator 2 and annular stator 3 k1 * 、u k2 * and u k3 *, so that the actual voltage u k1 、u k2 and u k3 Follow u k1 * 、u k2 * and u k3 *Change, so that the total thrust of the two annular stators acting on the mover reaches F = F 1 +F 2 +F 3 ; The total torque acting on the mover reaches T = T 1 +T 2 +T 3 =0, at this time the mover performs a single linear motion; it is worth noting that, under normal circumstances, when the mover performs a single linear motion, because the thrust directions of stators 1 and 3 acting on the mover are opposite, it is only necessary to energize all the windings of a single annular stator.

[0093] Step C-2, the method for realizing rotational motion control alone is: by giving a reference angular velocity ω * and the required torque T, by adjusting the phase voltage reference value u of the windings of the annular stator 1, annular stator 2 and annular stator 3 k1 * 、u k2 * and u k3 *, so that the actual voltage u k1 、u k2 and u k3Follow u k1 * 、u k2 * and u k3 *Change, so that the total thrust of the two annular stators acting on the mover reaches F = F 1 +F 2 +F 3 =0; the total torque acting on the mover reaches T = T 1 +T 2 +T 3 , at this time, the mover performs a single rotation motion; it is worth noting that, under normal circumstances, when the mover performs a single rotation motion, energizing only the corresponding winding of a single annular stator will produce an irreversible thrust, so it is necessary to energize the corresponding windings of the two annular stators at the same time.

[0094] Step C-3, the control method for realizing the spiral motion is: according to the given reference linear velocity v * And the required thrust F, reference angular velocity ω * and the required torque T; by adjusting the phase voltage reference value u of the windings of the annular stator 1, the annular stator 2 and the annular stator 3 k1 * 、u k2 * and u k3 *, so that the actual voltage u k1 、u k2 and u k3 Follow u k1 * 、u k2 * and u k3 *Change, so that the total thrust of the two annular stators acting on the mover reaches F = F 1 +F 2 +F 3 ; The total torque acting on the mover reaches T = T 1 +T 2 +T 3 , at this time the mover performs spiral motion; it is worth noting that the spiral motion achieved by energizing the winding of a single annular stator is suitable for occasions requiring small torque and large thrust; the spiral motion achieved by energizing the windings of multiple annular stators is suitable for occasions requiring large torque and small thrust.

[0095] The single linear motion control method is: by giving a reference linear velocity v * And the required thrust F, by adjusting the phase voltage reference value u of the windings of the annular stator 1, annular stator 2 and stator annular stator 3 k1 * 、u k2 * and u k3 *, so that the actual voltage uk1 、u k2 and u k3 Follow u k1 * 、u k2 * and u k3 *Change, so that the total thrust of the two annular stators acting on the mover reaches F = F 1 +F 2 +F 3 ; The total torque acting on the mover reaches T = T 1 +T 2 +T 3 =0, the mover performs independent linear motion.

[0096] The control method of the single rotation motion is: by giving a reference angular velocity ω * and the required torque T, by adjusting the phase voltage reference value u of the windings of the annular stator 1, annular stator 2 and annular stator 3 k1 * 、u k2 * and u k3 *, so that the actual voltage u k1 、u k2 and u k3 Follow u k1 * 、u k2 * and u k3 *Change, so that the total thrust of the two annular stators acting on the mover reaches F = F 1 +F 2 +F 3 =0; the total torque acting on the mover reaches T = T 1 +T 2 +T 3 , the mover performs independent rotational motion.

[0097] The control method of spiral motion is: according to the given reference linear velocity v * And the required thrust F, reference angular velocity ω * and the required torque T; by adjusting the phase voltage reference value u of the annular stator 1 and annular stator 2 windings k1 * 、u k2 * and u k3 *, so that the actual voltage u k1 、u k2 and u k3 Follow u k1 * 、u k2 * and u k3*Change, so that the total thrust of the two annular stators acting on the mover reaches F = F 1 +F 2 +F 3 ; The total torque acting on the mover reaches T = T 1 +T 2 +T 3 , the mover performs a spiral motion

[0098] In summary, the proposed control strategy can effectively realize the control of thrust and torque. At the same time, the present invention has a simple structure, few control variables, and multiple operating modes to meet the needs of multiple occasions; the control is easy to implement, and the thrust and torque can be flexibly adjusted. By controlling the driving signal of the winding, the torque and thrust generated by multiple stators can be controlled separately, and the motor can independently perform linear motion and rotational motion, realizing the decoupling of linear motion and rotational motion; this control method can drive a two-degree-of-freedom switched reluctance motor to independently perform linear motion, rotational motion, and spiral motion.

[0099] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A highly scalable, strongly coupled, two-degree-of-freedom switched reluctance motor topology structure, characterized in that: The invention comprises a plurality of annular stators and movers, wherein the plurality of annular stators have the same structure, and m annular stators and movers are arranged in a radial nested manner; the annular stator comprises an annular stator core and a concentrated winding, and the annular stator core is composed of 6n (n=1, 2, 3...) independent enhanced E-type stator modules, and adjacent enhanced E-type stator modules are spaced 60° / n apart, and the number of teeth of the annular stator is 18n; the independent enhanced E-type stator core is uniformly provided with trapezoidal slots in the circumferential direction, the opening of the trapezoidal slots faces the axis, and the concentrated windings are arranged in the trapezoidal slots, and a single annular stator has a total of 6n concentrated windings; the three tooth poles of the independent enhanced E-type stator module are each provided with two rectangular slots in the axial direction, and the opening of the rectangular slots faces the axis; the mover comprises a mover yoke, salient pole mover teeth uniformly arranged in the circumferential direction and the axial direction of the surface, a rotating shaft and a bearing, and the annular stator core is sleeved on the rotating shaft through a bearing; the mover can cooperate with any annular stators to perform linear motion, rotational motion and spiral motion.

2. The highly scalable, strongly coupled two-degree-of-freedom switched reluctance motor according to claim 1, characterized in that: The annular stators are axially arranged at equal intervals and at the same angles.

3. The highly scalable and strongly coupled two-degree-of-freedom switched reluctance motor according to claim 1, characterized in that: The bottom of the trapezoidal opening slot of the independent enhanced E-type stator module and the bottom of the rectangular opening slot of the tooth pole are both arc surfaces.

4. The highly scalable and strongly coupled two-degree-of-freedom switched reluctance motor according to claim 1, characterized in that: The rectangular opening slots of the independent enhanced E-type stator module tooth poles are equal in size.

5. The highly scalable and strongly coupled two-degree-of-freedom switched reluctance motor according to claim 1, characterized in that: The size of the salient pole mover teeth is adapted to the size of the rectangular opening slots of the enhanced E-type stator module teeth.

6. The highly scalable and strongly coupled two-degree-of-freedom switched reluctance motor according to claim 1, characterized in that: The linear unit and the rotary unit share a set of windings, and the stator teeth and the mover teeth simultaneously generate thrust and torque components when they are not aligned axially and radially.

7. The control method of the highly scalable and strongly coupled two-degree-of-freedom switched reluctance motor according to claim 6, characterized in that: When m=1, that is, a single annular stator, the drive signal of the winding on the stator teeth is controlled to generate thrust F and torque T at the same time; the motor can achieve spiral motion at a specific linear speed and rotational speed.

8. The control method of the highly scalable and strongly coupled two-degree-of-freedom switched reluctance motor according to claim 6, characterized in that: In the case of m=2, that is, two annular stators, the drive signals of the windings on the two annular stator teeth are controlled respectively to generate thrusts F1=F 11 +F 12 +F 13 +...+F 1q 、F2=F 21 +F 22 +F 23 +...+F 2q With torque T1 = T 11 +T 12 +T 13 +...+T 1q 、T2=T 21 +T 22 +T 23 +...+T 2q , where F m represents the total thrust generated by the mth annular stator, T m represents the total torque generated by the mth annular stator, F mn It is represented by the thrust generated by the qth (q=1, 2, 3...6n) enhanced E-type stator module of the mth annular stator, T mn It is expressed as the torque generated by the qth enhanced E-type stator module of the mth annular stator; the total thrust F=F1+F2 generated by the annular stator, and the total torque T=T1+T2 generated; by controlling the current of the windings on the two annular stator teeth, the motor can achieve decoupling control of linear motion, rotational motion and spiral motion.

9. The control method of the highly scalable and strongly coupled two-degree-of-freedom switched reluctance motor according to claim 6, characterized in that: When m=3, i.e., three annular stators, the drive signals of the windings on the teeth of each annular stator are controlled respectively to generate thrusts F1=F 11 +F 12 +F 13 +...+F 1q 、F2=F 21 +F 22 +F 23 +...+F 2q 、F3=F 31 +F 32 +F 33 +...+F 3q With torque T1 = T 11 +T 12 +T 13 +...+T 1q 、T2=T 21 +T 22 +T 23 +...+T 2q 、T3=T 31 +T 32 +T 33 +...+T 3q ; The total thrust F generated by the annular stator is F=F1+F2+F3, and the total torque T generated is T=T1+T2+T3; By controlling the current of the windings on the three annular stator teeth, the motor can achieve decoupling control of linear motion, rotational motion and spiral motion.

10. The control method of the highly scalable and strongly coupled two-degree-of-freedom switched reluctance motor according to claim 6, characterized in that: In the case of any number of annular stators, the drive signals of the windings on the teeth of the annular stators are controlled respectively to generate thrusts F1, F2, F3, ..., F m With torque T1, T2, T3, ..., T m ; The total thrust and total torque generated by the annular stator can be expressed as follows: By controlling the current in the windings on each annular stator tooth, the motor can achieve decoupling control of linear motion, rotational motion and spiral motion.

11. The control method of the highly scalable and strongly coupled two-degree-of-freedom switched reluctance motor according to claim 10, characterized in that: The motor realizes decoupling control of linear motion, rotational motion and spiral motion, including the following steps: Step A: Collect the real-time rotation mechanical angle position θ and linear position x of the mover to determine the excitation state of each phase of the annular stator winding; Step B: Adjust the thrust components F1, F2, F3, ..., F generated by a single stator by adjusting the driving signal of the winding. m And the torque components T1, T2, T3, ..., T m ; Step C: Control the winding drive signal so that the torques generated by the motor cancel each other out and generate thrust alone to achieve linear motion; control the winding drive signal so that the thrusts generated by the motor cancel each other out and generate rotation alone to achieve rotational motion; control the winding drive signal so that the motor generates thrust and torque at the same time to achieve spiral motion.

12. The control method according to claim 11 realizes a strategy for linear motion, characterized in that: By giving a reference linear velocity v * And the required thrust F, by adjusting the phase voltage reference value u of each annular stator winding k1 * 、u k2 * 、u k3 * 、…、u km * , so that the actual voltage u k1 、u k2 、u k3 、…、u km Follow u k1 * 、u k2 * 、u k3 * 、…、u km * The change of u km is the k-th phase winding voltage of the m-th annular stator; the thrust generated thereby reaches F; when the three-phase windings of a single annular stator are energized simultaneously, the torques generated cancel each other out, and we can obtain T1=T2=T3=···T m =0; at this time, the total torque on the mover is 0, and the total thrust is F = F1 + F2 + F3 + ··· + F m ; The mover performs independent linear motion.

13. The control method according to claim 11 realizes the strategy of rotational motion, characterized in that: By giving a reference angular velocity ω * And the required torque T, by adjusting the phase voltage reference value u of each annular stator winding k1 * 、u k2 * 、u k3 * 、…、u km * , so that the actual voltage u k1 、u k2 、u k3 、…、u km Follow u k1 * 、u k2 * 、u k3 * 、…、u km * The change of the torque generated thereby makes it reach T, and the thrust components F1, F2, F3, ..., F generated by the motor at this time are obtained. m ; The thrust generated by each annular stator makes F = F1 + F2 + F3 + ··· + F m =0; at this time, the total thrust F received by the mover is 0, and the total torque T is T = T1 + T2 + T3 + ··· + T m ; The mover performs independent rotational motion.

14. The strategy for realizing spiral motion according to the control method of claim 11, characterized in that: Taking three stator rings as an example, according to the given reference linear velocity v * And the required thrust F, reference angular velocity ω * And the required torque T; by adjusting the phase voltage reference value u of each annular stator winding k1 * 、u k2 * 、u k3 * 、…、u km * , so that the actual voltage u k1 、u k2 、u k3 、…、u km Follow u k1 * 、u k2 * 、u k3 * 、…、u km * The change of the total torque generated thereby makes T = T1 + T2 + T3 + ··· + T m , and obtain the thrust components F1, F2, F3, ..., F generated by the motor at this time m ; Then the total thrust generated reaches F = F1 + F2 + F3 + ··· + F m ; The mover performs spiral motion.

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