A high-expansion strong-coupling two-degree-of-freedom switched reluctance motor and a control method thereof

Abstract

The application discloses a high-expansion strong-coupling two-degree-of-freedom switched reluctance motor and a control method thereof, and comprises a plurality of annular stators and movers, wherein the annular stator structures are the same, and each annular stator adopts an independent enhanced E-type modular structure; the annular stators and the movers are arranged in a radial nested mode; the mover comprises an annular mover yoke, a salient pole mover tooth arranged uniformly along a circumferential direction and an axial direction, a rotating shaft and a bearing, and the annular mover core is sleeved on the rotating shaft through the bearing. The annular stator in the application adopts the independent enhanced E-type modular structure and a multi-phase multi-ring structure, thereby meeting the operation requirements of the motor under different working conditions, enhancing the fault tolerance, and effectively increasing the power density and the efficiency.

Description

Technical Field

[0001] This invention relates to a highly scalable, strongly coupled two-degree-of-freedom switched reluctance motor topology and its control method, belonging to the field of switched reluctance motor and its control technology. Background Technology

[0002] Two-degree-of-freedom switched reluctance motors (SRMs) have promising applications in industrial robots, boring machines, home appliances, and textile machinery due to their simple structure, high integration, high reliability, and good control performance. However, existing SRMs suffer from complex structures and high magnetic circuit coupling between the linear and rotating parts, making decoupling difficult and increasing the complexity of motor control, thus limiting their application. To address this, we propose a highly scalable, strongly coupled two-degree-of-freedom SRM topology. This motor features a compact structure, effectively improving power density, and offers multiple operating modes to meet various application requirements. Furthermore, it employs an independent, enhanced E-type modular structure to effectively reduce magnetic field coupling strength. By controlling the drive signals of each phase winding on the toroidal stator, linear and rotary motion can be achieved 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 highly scalable, strongly coupled two-degree-of-freedom switched reluctance motor and its control method to solve the problems of low power density, severe electromagnetic coupling, difficulty in decoupling control, and limited operating modes of existing two-degree-of-freedom motors.

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

[0005] A highly scalable, strongly coupled two-degree-of-freedom switched reluctance motor topology includes several ring stators and movers. The ring stators have identical structures and are arranged in a radially nested configuration. Each ring stator comprises a ring stator core and concentrated windings. The ring stator core consists of 6n (n = 1, 2, 3...) independent reinforced E-type stator modules, spaced 60° / n apart from adjacent modules. The ring stator has 18n teeth. Each independent reinforced E-type stator core has trapezoidal slots uniformly distributed circumferentially, with the slot openings facing the axis. The concentrated windings are located within these slots, and a single ring stator has 6n concentrated windings. Each independent reinforced E-type stator module has two rectangular slots along its three tooth poles, with the slot openings facing the axis. Each mover includes a mover yoke, salient pole mover teeth uniformly arranged circumferentially and axially, a shaft, and bearings. The ring stator core is mounted on the shaft via bearings.

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

[0007] In the above technical solution, the bottom of the trapezoidal opening slot of the independent reinforced E-type 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 reinforced E-type stator module teeth are of equal size.

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

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

[0011] The highly scalable, strongly coupled, two-degree-of-freedom switched reluctance motor proposed in this invention patent is characterized by the following: taking m=4, n=1 (i.e., four ring stators, each with three phases) as an example, each independent reinforced E-type stator module has windings on its middle teeth. The windings on two E-type modules spaced 180° apart are connected in series, which can respectively constitute the A-phase winding, B-phase winding, and C-phase winding on ring stator 1; the D-phase winding, E-phase winding, and F-phase winding on ring stator 2; the G-phase winding, H-phase winding, and I-phase winding on ring stator 3; and the J-phase winding, K-phase winding, and L-phase winding on ring stator 4. The linear and rotary units share a set of windings. The torque generated by the windings of ring stator 1, ring stator 2, ring stator 3, and ring stator 4 is in the same direction, but the thrust is in different directions. By controlling the drive signal of the windings, linear motion, rotary motion, and helical motion can be realized independently.

[0012] The linear motion principle is as follows: Taking the circumferential alignment of the stator poles of phase A and the moving teeth as an example, when phases B and C are energized, according to the principle of minimum magnetic reluctance, the moving teeth closest to the stator poles of phase B will receive torque and rotate towards the stator poles of phase B, and the moving teeth closest to the stator poles of phase C will receive torque and rotate towards the stator poles of phase C. By adjusting the current magnitudes of the phase B and phase C windings, the two torques are equal in magnitude and opposite in direction, thus canceling each other out, and the total torque force on the moving teeth is 0. At this time, the stator poles of phases B and C are not axially aligned with the moving teeth, so the moving teeth will only receive a thrust pointing towards the annular stator 1. When the stator poles of phases B and C are axially aligned with the moving teeth, the thrust force on the moving teeth is 0, and phases B and C are de-energized. By cyclically energizing each phase of each stator in turn, a continuous thrust is generated, and the moving teeth can achieve axial reciprocating linear motion.

[0013] When each phase of two or more annular stators is energized, the torque generated by a single annular stator can cancel each other out, regardless of the motor's position. Therefore, the motor will not rotate but will only move linearly. Since the thrust generated by each annular stator is in a different direction, the direction of the motor's linear motion is the direction of the annular stator that generates the greater thrust.

[0014] In summary, the torques generated by each phase of a single ring stator can cancel each other out, thus enabling the motor to achieve individual linear motion at any position. Linear motion with a single ring stator is suitable for applications requiring low thrust and short linear travel on one side. With two ring stators, the linear motion is suitable for applications requiring low thrust and short axial reciprocating linear travel. With three ring stators, the linear motion is suitable for applications requiring continuous thrust and long axial reciprocating linear travel. With four ring stators, the linear motion is suitable for applications requiring low thrust pulsation and long axial reciprocating travel. The designed motor offers the advantage of multi-mode operation.

[0015] The principle of rotational motion is as follows: When m=1 and there is a single annular stator, taking the example of the A-phase stator pole and the moving tooth of the annular stator 1 being completely aligned axially and circumferentially. When phase B is energized, according to the principle of minimum magnetic reluctance, the moving tooth closest to the B-phase stator pole will be subjected to a torque force and rotate towards the B-phase stator pole. When the B-phase stator pole and the moving tooth are completely overlapped, the torque force on the moving tooth is 0. At this time, phase B is de-energized and phase C is energized, generating a continuous torque, and the moving tooth will rotate in the same direction.

[0016] When m=2 and there are two ring stators, take the example of ring stator 1 and ring stator 2 being symmetrical about the mover. When phase B is energized, the stator teeth and mover teeth of each phase of the annular stator 1 are not axially aligned, resulting in an uncancellable thrust, thus preventing the motor from rotating independently. When phases B and E are energized, according to the principle of minimum magnetic reluctance, the mover tooth closest to the stator pole of phase B will be thrust and move towards the stator pole of phase B, and the mover tooth closest to the stator pole of phase E will also be thrust and move towards the stator pole of phase E. The two thrusts are equal in magnitude and opposite in direction, canceling each other out, resulting in a total thrust of 0 on the mover. At this time, the stator poles of phases B and E are not circumferentially aligned with the mover teeth, and the mover teeth closest to the stator poles of phases B and E will be subjected to torque and rotate towards the stator poles of phases B and E. When the stator poles of phases B and E are completely aligned, the torque on the mover is 0. At this time, phases B and E are de-energized, and phases C and F are energized, generating a continuous rotating torque, causing the mover to rotate in the same direction.

[0017] With m=3 and three annular stators, taking the complete axial and circumferential alignment of the D-phase stator poles of annular stator 2 as an example. Annular stators 1 and 3 are symmetrical about annular stator 2. When phases B, E, and H are energized, according to the principle of minimum magnetic reluctance, the moving tooth closest to the B-phase stator pole will experience a thrust and move towards the B-phase stator pole, and the moving tooth closest to the H-phase stator pole will also experience a thrust and move towards the H-phase stator pole. The two thrusts are equal in magnitude and opposite in direction, thus canceling each other out. The E-phase stator pole is axially aligned with the moving tooth and will not generate a thrust; therefore, the moving tooth experiences no thrust. The total thrust is 0. At this time, the stator poles of phases B, E, and F are not circumferentially aligned with the mover teeth. The mover teeth closest to the stator poles of phases B, E, and F will be subjected to torque and rotate toward the stator poles of phases B, E, and F. When the stator poles of phases B, E, and F are completely aligned, the torque on the mover is 0. At this time, phases B, E, and F are de-energized, while phases C, F, and I are energized, generating continuous rotational torque, and the mover will rotate in the same direction.

[0018] In summary, the motor can achieve independent rotation with a single annular stator, two annular stators, three annular stators, or more. However, when a single annular stator is energized, the misalignment of the stator poles and mover teeth along the axis generates an uncounterable thrust. Therefore, specific conditions must be met for the motor to achieve independent rotation. With two or more annular stators, the motor can achieve independent rotation at any position. The torque of the motor differs in each case, and different solutions can be selected based on the specific application.

[0019] The spiral motion principle is as follows: Taking the A-phase stator pole and the mover tooth as circumferentially perfectly aligned but axially misaligned; when phase B is energized, according to the principle of minimum magnetic reluctance, the mover tooth closest to the B-phase stator pole is subjected to torque and rotates towards phase B. At the same time, because phase B and the mover tooth are axially misaligned, the mover will be subjected to a thrust pointing towards the annular stator 1, and the motor will achieve a spiral motion pointing towards the annular stator 1; when phase B and the mover tooth are perfectly aligned circumferentially and axially, phase B is de-energized and phase F is energized, and the mover will perform a spiral motion in the same direction; when each phase winding of BFGK is energized in sequence, the motor achieves a clockwise spiral motion pointing towards the annular stator 1.

[0020] The two-degree-of-freedom switched reluctance motor control method is characterized by the linear and rotary units sharing a set of windings. When the stator teeth and mover teeth are not aligned axially and circumferentially, they simultaneously generate thrust and torque components. Under the combined constraints of the mover's axial position and angle, taking a three-ring stator (m=3, n=1) as an example, the drive signals of the three-ring stator phase windings are controlled to generate torques T1, T2, T3 and thrusts F1, F2, F3. The torques generated by the three ring stator windings are in the same direction, while the thrusts are in different directions. The total torque T = T1 + T2 + T3, and the total thrust F = F1 + F2 + F3. The motor can achieve decoupled control of linear, rotary, and helical motion. The method includes the following steps:

[0021] 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 annular stator 1, annular stator 2, and annular stator 3; specifically, this includes: Step A-1: ​​Define the mover position when θ = 0 and x = 0. At this time, the A-phase stator teeth of annular stator 1 are completely aligned circumferentially with the mover teeth, the D-phase stator teeth of annular stator 2 are completely aligned circumferentially and axially with the mover teeth, and the G-phase stator teeth of annular stator 3 are completely aligned circumferentially with the mover teeth. Annular stator 1 and annular stator 3 are symmetrical about annular stator 2; the linear position of the mover is 38mm per electrical cycle, with a control range of [-19mm, 19mm]; the angular position of the mover is 22.5° per electrical cycle, with a control range of [0, 22.5°]; Step A-2: Set the angular 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°], the angle control interval θ of phase C onc ∈[12.5°, 21°], the angle control intervals of phases D, E, F and G, H, I are the same as those of phases A, B, and C, respectively; the linear position control intervals x of phases A, B, and C are... on ∈[-19mm, 0], linear position control interval x of phase G, phase H, and phase I on∈[0, 19mm]; Step A-3, when the mover achieves linear motion, all windings of a single ring stator need to be energized; when all windings of ring stator 1 are energized alone, the total torque T = T1 = 0 and the total thrust F = F1 on the mover can achieve linear motion pointing towards ring stator 1; when all windings of ring stator 3 are energized alone, the total torque T = T3 = 0 and the total thrust F = F3 on the mover can achieve linear motion pointing towards ring stator 3; the above two motions are suitable for high thrust situations; when all windings of ring stator 1, ring stator 2 and ring stator 3 are energized at the same time, the total torque T = T1 + T2 + T3 = 0 and the total thrust F = F1 + F2 + F3 on the mover can achieve linear motion pointing towards ring stator 1 and ring stator 3 respectively by controlling the drive signal of the windings; this motion is suitable for low thrust situations; Step A-4, when the linear position of the mover x1 ∈ x on x2∈x on x3∈x on And the angular position θ1∈θ ona , θ2∈θ ond , θ3∈θ ong The power switches of the A-phase, B-phase, and G-phase winding power circuits are turned on when the mover is in a straight position x1∈x on x2∈x on x3∈x on And the angular position θ1∈θ onb , θ2∈θ one , θ3∈θ onh The power switches of the power circuits of phase B, phase E, and phase H windings are turned on at the same time; when the straight position of the mover x1∈x on x2∈x on x3∈x on And the angular position θ1∈θ onc , θ2∈θ onf , θ3∈θ oni The power switches of the C-phase, F-phase and I-phase winding power circuits are turned on. At this time, the torque generated by the windings on the ring stator 1, ring stator 2 and ring stator 3 is in the same direction, and the thrust of the ring stator 1 and ring stator 3 is in opposite directions. By controlling the drive signal of the windings, the magnitude of the torque and thrust on the mover can be changed, thereby realizing rotational motion and linear motion independently.

[0022] Step B involves adjusting the drive signal of the windings to regulate the thrust components F1, F2, F3 and torque components T1, T2, T3 generated by a single annular stator. The specific steps are as follows: Step B-1, obtaining the static flux linkage data ψ1(x1, θ1, i) when the windings of the three annular stators are energized through a static experiment. k1 ), ψ2(x2, θ2, i k2 ) and ψ3(x3, θ3, ik3 ); where x1, x2, and x3 are the linear positions of the mover relative to annular stators 1, 2, and 3, and θ1, θ2, and θ3 are the rotational mechanical angular positions of the mover relative to annular stators 1, 2, and 3, where θ1 = θ2 = θ3, i k1 Let i be the phase current of the k-th phase winding of the toroidal stator 1. k2 Let i be the phase current of the k-th phase winding of the toroidal stator 2. k3 The phase current of the k-th phase winding of the toroidal stator 3 is given in step B-2. The real-time linear velocity v and angular velocity ω of the mover are collected. In step B-3, the linear velocity v of the mover is subtracted from the set reference linear velocity v* to obtain the linear velocity difference Δv; the angular velocity ω of the mover is subtracted from the set reference angular velocity ω* to obtain the angular velocity difference Δω. In step B-4, the linear velocity difference Δv and the angular velocity difference Δω are used by a proportional-integral controller to obtain the reference voltage u of the toroidal stator 1 winding. k1 * Reference value of voltage u for ring stator winding 2 k2 * and reference value of voltage u for the ring stator 3 winding k3 *; Step B-5, the phase winding voltage balance equations of ring stator 1, ring stator 2 and ring 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 k3 These are the phase winding internal resistances of ring stator 1, ring stator 2, and ring stator 3, respectively. In step B-6, by integrating the winding voltage balance equation in step B-5, the calculation formulas for the phase current can be obtained as shown in equations (7), (8), and (9).

[0027]

[0028] in and The angular velocities of ring stators 1, 2, and 3 are respectively, and and The linear velocities of ring stators 1, 2, and 3 are respectively. In step B-7, the phase winding magnetic energies of ring stators 1, 2, and 3 can be calculated using formulas (10), (11), and (12).

[0029]

[0030] The thrust F1, F2 and F3 and the torque T1, T2 and T3 generated by the annular stator 1, annular stator 2 and annular stator 3 can be obtained by taking the partial derivatives of the magnetic common energy with respect to the linear position and the angular position, respectively, as shown in equations (13), (14), (15), (16), (17) and (18).

[0031]

[0032] Step B-8: Using the voltage chopping control method, the actual voltage u of the toroidal stator 1, toroidal stator 2, and toroidal stator 3 phase windings is adjusted. k1 u k2 and u k3 Track u k1 *、u k2 * and u k3 * This allows for real-time adjustment of the phase voltages of the windings of ring stator 1, ring stator 2, and ring stator 3, thereby achieving the purpose of adjusting 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 thrust directions of the ring stator 1 and ring stator 3 are opposite, the torques generated by the control motors cancel each other out, generating thrust alone to achieve linear motion; the thrusts generated by the control motors cancel each other out, generating torque alone to achieve rotational motion; the control motors simultaneously generate thrust and torque to achieve helical motion; the specific steps are as follows:

[0034] Step C-1, the method for implementing linear motion control independently is as follows: by providing a reference linear velocity v * And the required thrust F, which is achieved by adjusting the reference value u of the phase voltage of the windings of toroidal stator 1, toroidal stator 2, and toroidal stator 3. k1 * u k2 * and u k3 *, making the actual voltage u k1 u k2 and u k3 Follow u k1 * u k2 * and u k3 The change causes the total thrust exerted by the two stators on the mover to reach F = F1 + F2 + F3; the total torque exerted on the mover to reach T = T1 + T2 + T3 = 0. At this time, the mover performs linear motion alone. It is worth noting that, under normal circumstances, when the mover performs linear motion alone, since the thrust exerted by the annular stator 1 and annular stator 3 on the mover is in opposite directions, it is only necessary to energize all the windings of a single stator.

[0035] Step C-2, the method for implementing rotational motion control independently is as follows: by providing a reference angular velocity ω * And the required torque T, by adjusting the reference value u of the phase voltage of the ring stator 1, ring stator 2 and ring stator 3 windings. k1 * u k2 * and u k3 *, making the actual voltage u k1 u k2 and u k3 Follow u k1 * u k2 * and u k3 The change causes the total thrust exerted by the two stators on the mover to reach F = F1 + F2 + F3 = 0; the total torque exerted on the mover to reach T = T1 + T2 + T3. At this time, the mover rotates independently. It is worth noting that, under normal circumstances, when the mover rotates independently, energizing only the corresponding winding of a single ring stator will produce an uncancellable thrust. Therefore, it is necessary to energize the corresponding windings of both ring stators simultaneously.

[0036] Step C-3, the control method for achieving 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 ring stator 1, ring stator 2 and ring stator 3. k1 * u k2 * and u k3 *, making the actual voltage u k1 u k2 and u k3 Follow u k1 * u k2 * and u k3 The changes cause the total thrust exerted by the three ring stators on the mover to reach F = F1 + F2 + F3; the total torque exerted on the mover to reach T = T1 + T2 + T3, at which point the mover undergoes helical motion. It is worth noting that helical motion achieved by energizing the windings of a single ring stator is suitable for applications requiring small torque and large thrust; helical motion achieved by energizing the windings of multiple ring stators is suitable for applications requiring large torque and small thrust.

[0037] The beneficial effects of this invention are as follows: The highly scalable, strongly coupled two-degree-of-freedom switched reluctance motor of this invention can realize axial reciprocating helical motion, independent linear motion, and independent rotary motion, meeting the needs of various motion applications; the ring stator adopts an independent reinforced E-type modular structure, which can effectively reduce the magnetic field coupling strength; the independent reinforced 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, thereby driving the motor to perform linear motion, rotary motion, and helical motion, laying the foundation for the widespread application of two-degree-of-freedom motors in the field of industrial robots. Attached Figure Description

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

[0039] Figure 2 This is a schematic diagram of the entire ring stator.

[0040] Figure 3 This is a schematic diagram of a concentrated winding.

[0041] Figure 4 This is a schematic diagram of the actuator structure.

[0042] Figure 5 These are the magnetic field lines of phases A, B, and C when phase A is perfectly aligned circumferentially.

[0043] Figure 6 These are the magnetic field lines of phases A and B when phase A is perfectly aligned axially and circumferentially.

[0044] Figure 7 The magnetic field lines of phase C are when phase B is perfectly aligned axially and circumferentially.

[0045] Figure 8 This is a schematic diagram showing the symmetry of stator 1 and stator 2 about the mover.

[0046] Figure 9 This is a schematic diagram showing the D phase of stator 2 when it is fully aligned axially and circumferentially.

[0047] Figure 10 This is a schematic diagram showing the initial position of the motor's spiral motion when phase A is fully aligned circumferentially.

[0048] Explanation of reference numerals in the attached figures:

[0049] 1. Annular stator; 11. Reinforced E-type stator module; 111. E-type stator tooth; 112. Trapezoidal open slot; 113. Rectangular open slot; 2. Concentrated winding; 3. Mover; 31. Mover yoke; 32. Salient pole mover tooth; 4. Shaft; 5. Bearing; 6. Magnetic field lines of phase A when phase A is circumferentially aligned; 7. Magnetic field lines of phase B when phase A is circumferentially aligned; 8. Magnetic field lines of phase C when phase A is circumferentially aligned; 9. Magnetic field lines of phase A when phase A is axially and circumferentially perfectly aligned; 10. Magnetic field lines of phase B when phase A is axially and circumferentially perfectly aligned; 11. Magnetic field lines of phase B when phase B is axially and circumferentially perfectly aligned; 12. Magnetic field lines of phase C when phase B is axially and circumferentially perfectly aligned. Detailed Implementation

[0050] 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.

[0051] The technical solution of a highly scalable, strongly coupled two-degree-of-freedom switched reluctance motor and its control method according to the present invention will be described in detail below with reference to the accompanying drawings:

[0052] like Figure 1 The diagram shown is a schematic of the overall structure of a highly scalable, strongly coupled two-degree-of-freedom switched reluctance motor. In this diagram, 1 is the ring stator, 2 is the concentrated winding, 3 is the mover, 4 is the shaft, and 5 is the bearing.

[0053] A highly scalable, strongly coupled two-degree-of-freedom switched reluctance motor structure includes several ring stators (1) and movers (3). The ring stators have identical structures, and the ring stators and movers are arranged in a radially nested configuration. The ring stator includes a ring stator core and a concentrated winding (2). The ring stator core is composed of six independent reinforced E-type stator modules (11), with adjacent reinforced E-type stator modules spaced 60° apart. The ring stator has 18 teeth. The independent reinforced E-type stator cores are circumferentially uniformly open. There are trapezoidal slots with the openings facing the axis. The concentrated windings are set in the trapezoidal slots. A single annular stator has a total of 6 concentrated windings. Two concentrated windings with a 180° interval are connected in series to form a phase. The independent reinforced E-type stator module has 2 rectangular slots on each of the 3 tooth poles along the axial direction. The rectangular slots open towards the axis. The mover includes a mover yoke (31), salient pole mover teeth (32) evenly arranged along the circumferential and axial directions of the surface, a rotating shaft (4), and a bearing (5). The annular stator core is sleeved on the rotating shaft through the bearing.

[0054] In the above technical solution, the annular stator is placed at equal intervals along the axial direction and at the same angle.

[0055] In the above technical solution, the bottom of the trapezoidal opening slot (112) of the independent reinforced 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 reinforced E-type stator module teeth 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 moving teeth generate thrust components and torque components simultaneously when they are not aligned axially and radially.

[0058] The highly scalable, strongly coupled, two-degree-of-freedom switched reluctance motor proposed in this invention patent is characterized by the following: taking m=4, n=1 (i.e., four ring stators, each with three phases) as an example, each independent reinforced E-type stator module has windings on its middle teeth. The windings on two E-type modules spaced 180° apart are connected in series, which can respectively constitute the A-phase winding, B-phase winding, and C-phase winding on ring stator 1; the D-phase winding, E-phase winding, and F-phase winding on ring stator 2; the G-phase winding, H-phase winding, and I-phase winding on ring stator 3; and the J-phase winding, K-phase winding, and L-phase winding on ring stator 4. The linear and rotary units share a set of windings. The torque generated by the windings of ring stator 1, ring stator 2, ring stator 3, and ring stator 4 is in the same direction, but the thrust is in different directions. By controlling the drive signal of the windings, linear motion, rotary motion, and helical motion can be realized independently.

[0059] The principle of linear motion is as follows: Figure 5 Taking the circumferential alignment of the stator poles and mover teeth of phase A as an example, when phases B and C are energized, according to the principle of minimum magnetic reluctance, the mover tooth closest to the stator pole of phase B will be subjected to torque and rotate towards the stator pole of phase B, and the mover tooth closest to the stator pole of phase C will be subjected to torque and rotate towards the stator pole of phase C. By adjusting the current magnitudes of the phase B and phase C windings, the two torques are made equal in magnitude and opposite in direction, thus canceling each other out, and the total torque force on the mover is 0. At this time, the stator poles of phases B and C are not axially aligned with the mover teeth, so the mover will only be subjected to a thrust pointing towards the annular stator 1. When the stator poles of phases B and C are axially aligned with the mover teeth, the thrust force on the mover is 0, and phases B and C are de-energized. By cyclically energizing each phase of each annular stator in turn, a continuous thrust is generated, and the mover can achieve axial reciprocating linear motion.

[0060] When each phase of two or more annular stators is energized, the torque generated by a single annular stator can cancel each other out, regardless of the motor's position. Therefore, the motor will not rotate but will only move linearly. Since the thrust generated by each annular stator is in a different direction, the direction of the motor's linear motion is the direction of the annular stator that generates the greater thrust.

[0061] In summary, the torques generated by each phase of a single ring stator can cancel each other out, thus enabling the motor to achieve individual linear motion at any position. Linear motion with a single ring stator is suitable for applications requiring low thrust and short unilateral linear travel. With two ring stators, the linear motion is suitable for applications requiring low thrust and short axial reciprocating linear travel. With three ring stators, the linear motion is suitable for applications requiring continuous thrust and long axial reciprocating linear travel. With four ring stators, the linear motion is suitable for applications requiring low thrust pulsation and long axial reciprocating travel. The designed motor offers the advantage of multi-mode operation.

[0062] The aforementioned rotational motion principle is as follows: Taking the example of a single annular stator with m=1, where the A-phase stator pole of stator 1 is perfectly aligned axially and circumferentially with the moving teeth. For example... Figure 6 As shown, the magnetic field line of phase A is 9, and the magnetic field line of phase B is 10. When phase B is energized, according to the principle of minimum magnetic reluctance, the moving tooth closest to the stator pole of phase B will be subjected to a torque force and rotate towards the stator pole of phase B. When the stator pole of phase B and the moving tooth are fully aligned, as shown... Figure 7 As shown, the magnetic field lines of phase B are 11, and those of phase C are 12. The torque force on the mover is 0. When phase B is de-energized and phase C is energized, a continuous torque is generated, causing the mover to rotate in the same direction. Therefore, by sequentially energizing phases A, B, and C and setting appropriate switching angles, the mover will continue to rotate in the same direction. Similarly, by changing the energizing sequence, the mover will rotate continuously in the opposite direction.

[0063] When m=2, with two ring stators, as follows Figure 8 As shown, the annular stator 1 and annular stator 2 are symmetrical about the mover as an example. When phase B is energized, the stator teeth and mover teeth of each phase of the annular stator 1 are not axially aligned, resulting in an uncancellable thrust, thus preventing the motor from rotating independently. When phases B and E are energized, according to the principle of minimum magnetic reluctance, the mover tooth closest to the stator pole of phase B will be thrust and move towards the stator pole of phase B, and the mover tooth closest to the stator pole of phase E will also be thrust and move towards the stator pole of phase E. The two thrusts are equal in magnitude and opposite in direction, canceling each other out, resulting in a total thrust of 0 on the mover. At this time, the stator poles of phases B and E are not circumferentially aligned with the mover teeth, and the mover teeth closest to the stator poles of phases B and E will be subjected to torque and rotate towards the stator poles of phases B and E. When the stator poles of phases B and E are completely aligned, the torque on the mover is 0. At this time, phases B and E are de-energized, and phases C and F are energized, generating a continuous rotating torque, causing the mover to rotate in the same direction.

[0064] When m=3, with three ring stators, as follows Figure 9As shown, taking the example of stator 2 with its D-phase stator poles perfectly aligned axially and circumferentially. The annular stator 1 and annular stator 3 are symmetrical about annular stator 2. When phases B, E, and H are energized, according to the principle of minimum magnetic reluctance, the moving tooth closest to the B-phase stator pole will experience a thrust and move towards the B-phase stator pole, and the moving tooth closest to the H-phase stator pole will also experience a thrust and move towards the H-phase stator pole. The two thrusts are equal in magnitude and opposite in direction, thus canceling each other out. The E-phase stator pole is axially aligned with the moving tooth and will not generate a thrust; therefore, the moving tooth experiences no thrust. The total thrust is 0. At this time, the stator poles of phases B, E, and F are not circumferentially aligned with the mover teeth. The mover teeth closest to the stator poles of phases B, E, and F will be subjected to torque and rotate toward the stator poles of phases B, E, and F. When the stator poles of phases B, E, and F are completely aligned, the torque on the mover is 0. At this time, phases B, E, and F are de-energized, while phases C, F, and I are energized, generating continuous rotational torque, and the mover will rotate in the same direction.

[0065] In summary, the motor can achieve independent rotation with a single annular stator, two annular stators, three annular stators, or more. However, when a single annular stator is energized, the misalignment of the stator poles and mover teeth along the axis generates an uncounterable thrust. Therefore, specific conditions must be met for the motor to achieve independent rotation. With two or more annular stators, the motor can achieve independent rotation at any position. The torque of the motor differs in each case, and different solutions can be selected based on the specific application.

[0066] The principle of spiral motion is as follows: Figure 10 As shown, taking the A-phase stator pole and the mover tooth as being circumferentially perfectly aligned but axially misaligned; when phase B is energized, according to the principle of minimum magnetic reluctance, the mover tooth closest to the B-phase stator pole experiences a torque force and rotates towards phase B. At the same time, because phase B and the mover tooth are axially misaligned, the mover will experience a thrust pointing towards the annular stator 1, and the motor will achieve a helical motion towards the annular stator 1; when phase B and the mover tooth are circumferentially and axially perfectly aligned, phase B is de-energized and phase F is energized, and the mover will perform a helical motion in the same direction; when each phase winding of BFGK is energized in sequence, the motor achieves a clockwise helical motion towards the annular stator 1.

[0067] The two-degree-of-freedom switched reluctance motor control method is characterized by the linear and rotary units sharing a set of windings. When the stator teeth and mover teeth are not aligned axially and circumferentially, they simultaneously generate thrust and torque components. Under the combined constraints of the mover's axial position and angle, taking a three-ring stator (m=3, n=1) as an example, the drive signals of the three-ring stator phase windings are controlled to generate torques T1, T2, T3 and thrusts F1, F2, F3. The torques generated by the three ring stator windings are in the same direction, while the thrusts are in different directions. The total torque T = T1 + T2 + T3, and the total thrust F = F1 + F2 + F3. The motor can achieve decoupled control of linear, rotary, and helical motion. The method includes the following steps:

[0068] Step A: Collect 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 annular stator 1, annular stator 2, and annular stator 3; the specific steps are as follows:

[0069] Step A-1: ​​Define the mover positions for θ = 0 and x = 0. At this point, the A-phase stator teeth of the annular stator 1 are circumferentially aligned with the mover teeth; the D-phase stator teeth of the annular stator 2 are circumferentially and axially aligned with the mover teeth; and the G-phase stator teeth of the stator 3 are circumferentially aligned with the mover teeth. The annular stator 1 and annular stator 3 are symmetrical about the annular stator 2. The linear position of the mover has a cycle length of 38 mm and a control range of [-19 mm, 19 mm]. The angular position of the mover has a cycle length of 22.5° and a control range of [0, 22.5°].

[0070] 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°], the angle control interval θ of phase C onc ∈[12.5°, 21°], the angle control intervals of phases D, E, F and G, H, I are the same as those of phases A, B, and C, respectively; the linear position control intervals x of phases A, B, and C are... on ∈[-19mm, 0], linear position control interval x of phase G, phase H, and phase I on ∈[0, 19mm];

[0071] Step A-4, when the position of the moving line x1∈x on x2∈x on x3∈x on And the angular position θ1∈θ ona , θ2∈θ ond , θ3∈θ ong The power switches of the A-phase, B-phase, and G-phase winding power circuits are turned on when the mover is in a straight position x1∈xon x2∈x on x3∈x on And the angular position θ1∈θ onb , θ2∈θ one , θ3∈θ onh The power switches of the power circuits of phase B, phase E, and phase H windings are turned on at the same time; when the straight position of the mover x1∈x on x2∈x on x3∈x on And the angular position θ1∈θ onc , θ2∈θ onf , θ3∈θ oni The power switches of the C-phase, F-phase and I-phase winding power circuits are turned on at the same time. At this time, the torque force generated by the windings on the ring stator 1, ring stator 2 and ring stator 3 is in the same direction, and the thrust force of stator 1 and stator 3 is in opposite directions. By controlling the drive signal of the windings, the magnitude of the torque and thrust on the mover can be changed, thereby realizing rotational motion and linear motion independently.

[0072] Step B involves adjusting the drive signal of the windings to regulate the thrust components F1, F2, F3 and the torque components T1, T2, T3 generated by a single annular stator; the specific steps are as follows:

[0073] Step B-1: Obtain the static flux linkage data ψ1(x1, θ1, i) of the three ring stator windings when energized through static experiments. k1 ), ψ2(x2, θ2, i k2 ) and ψ3(x3, θ3, i k3 ); where x1, x2, and x3 are the linear positions of the mover relative to annular stators 1, 2, and 3, and θ1, θ2, and θ3 are the rotational mechanical angular positions of the mover relative to annular stators 1, 2, and 3, where θ1 = θ2 = θ3, i k1 Let i be the phase current of the k-th phase winding of the toroidal stator 1. k2 Let i be the phase current of the k-th phase winding of the toroidal stator 2. k3 This refers to the phase current of the k-th phase winding of the ring stator 3.

[0074] Step B-2: Collect the real-time linear velocity v and angular velocity ω of the moving part;

[0075] 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; subtract the angular velocity ω of the mover from the set reference angular velocity ω* to obtain the angular velocity difference Δω.

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

[0077] Step B-5, the phase winding voltage balance equations for ring stator 1, ring stator 2, and ring stator 3 are as follows:

[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 These are the phase winding internal resistances of ring stators 1, 2, and 3, respectively.

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

[0083]

[0084]

[0085] in and The angular velocities of ring stators 1, 2, and 3 are respectively, and and These are the linear velocities of stator 1, stator 2, and stator 3, respectively.

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

[0087]

[0088] The thrust F1, F2 and F3 and the torque T1, T2 and T3 generated by the annular stator 1, annular stator 2 and annular stator 3 can be obtained by taking the partial derivatives of the magnetic common energy with respect to the linear position and the angular position, respectively, as shown in equations (13), (14), (15), (16), (17) and (18).

[0089]

[0090] Step B-8: Using the voltage chopping control method, the actual voltage u of the toroidal stator 1, toroidal stator 2, and toroidal stator 3 phase windings is adjusted.k1 u k2 and u k3 Track u k1 *、u k2 * and u k3 * This allows for real-time adjustment of the phase voltages of the windings of ring stator 1, ring stator 2, and ring stator 3, thereby achieving the purpose of adjusting 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 thrust directions of the ring stator 1 and ring stator 3 are opposite, the torques generated by the control motors cancel each other out, generating thrust alone to achieve linear motion; the thrusts generated by the control motors cancel each other out, generating torque alone to achieve rotational motion; the control motors simultaneously generate thrust and torque to achieve helical motion; the specific steps are as follows:

[0092] Step C-1, the method for implementing linear motion control independently is as follows: by providing a reference linear velocity v * And the required thrust F, which is achieved by adjusting the reference value u of the phase voltage of the windings of toroidal stator 1, toroidal stator 2, and toroidal stator 3. k1 * u k2 * and u k3 *, making the actual voltage u k1 u k2 and u k3 Follow u k1 * u k2 * and u k3 The change causes the total thrust exerted by the two annular stators on the mover to reach F = F1 + F2 + F3; the total torque exerted on the mover to reach T = T1 + T2 + T3 = 0. At this time, the mover performs linear motion alone. It is worth noting that, under normal circumstances, when the mover performs linear motion alone, since the thrust exerted by stators 1 and 3 on the mover is in opposite directions, it is only necessary to energize all the windings of a single annular stator.

[0093] Step C-2, the method for implementing rotational motion control independently is as follows: by providing a reference angular velocity ω * And the required torque T, by adjusting the reference value u of the phase voltage of the ring stator 1, ring stator 2 and ring stator 3 windings. k1 * u k2 * and u k3 *, making the actual voltage u k1 u k2 and u k3 Follow u k1 * u k2 *and u k3 The change causes the total thrust exerted by the two annular stators on the mover to reach F = F1 + F2 + F3 = 0; the total torque exerted on the mover reaches T = T1 + T2 + T3. At this time, the mover rotates independently. It is worth noting that, under normal circumstances, when the mover rotates independently, energizing only the corresponding winding of a single annular stator will produce an uncancellable thrust. Therefore, it is necessary to energize the corresponding windings of both annular stators simultaneously.

[0094] Step C-3, the control method for achieving 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 toroidal stator 1, toroidal stator 2 and toroidal stator 3 windings. k1 * u k2 * and u k3 *, making the actual voltage u k1 u k2 and u k3 Follow u k1 * u k2 * and u k3 The changes cause the total thrust exerted by the two annular stators on the mover to reach F = F1 + F2 + F3; the total torque exerted on the mover to reach T = T1 + T2 + T3. At this time, the mover undergoes helical motion. It is worth noting that helical motion achieved by energizing the windings of a single annular stator is suitable for applications requiring small torque and large thrust; helical motion achieved by energizing the windings of multiple annular stators is suitable for applications requiring large torque and small thrust.

[0095] The method for controlling linear motion alone is as follows: by giving a reference linear velocity v * And the required thrust F, which is achieved by adjusting the reference value u of the phase voltage of the toroidal stator 1, toroidal stator 2, and toroidal stator 3 windings. k1 * u k2 * and u k3 *, making the actual voltage u k1 u k2 and u k3 Follow u k1 * u k2 * and u k3 The change causes the total thrust exerted by the two annular stators on the mover to reach F = F1 + F2 + F3; the total torque exerted on the mover to reach T = T1 + T2 + T3 = 0, and the mover performs independent linear motion.

[0096] The control method for individual rotational motion is: by giving a reference angular velocity ω * And the required torque T, by adjusting the reference value u of the phase voltage of the ring stator 1, ring stator 2 and ring stator 3 windings. k1 * u k2 * and u k3 *, making the actual voltage u k1 u k2 and u k3 Follow u k1 * u k2 * and u k3 The change causes the total thrust exerted by the two annular stators on the mover to reach F = F1 + F2 + F3 = 0; the total torque exerted on the mover to reach T = T1 + T2 + T3, and the mover rotates independently.

[0097] 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 toroidal stator 1 and toroidal stator 2 windings. k1 * u k2 * and u k3 *, making the actual voltage u k1 u k2 and u k3 Follow u k1 * u k2 * and u k3 The change causes the total thrust exerted by the two annular stators on the mover to reach F = F1 + F2 + F3; the total torque exerted on the mover to reach T = T1 + T2 + T3, causing the mover to undergo helical motion.

[0098] In summary, the proposed control strategy effectively controls thrust and torque. Furthermore, this invention features a simple structure, few control variables, multiple operating modes to suit various applications, and convenient implementation. Thrust and torque can be flexibly adjusted; by controlling the drive signals of the windings, the torque and thrust generated by multiple stators can be controlled separately. The motor can independently perform linear and rotary motion, achieving decoupling between the two. This control method can drive a two-degree-of-freedom switched reluctance motor to independently perform linear, rotary, and helical motion.

[0099] 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 control method for a highly scalable, strongly coupled two-degree-of-freedom switched reluctance motor, characterized in that: It includes several ring stators and movers, wherein the ring stators have the same structure. m The annular stator and mover are arranged in a radially nested configuration; the annular stator includes an annular stator core and concentrated windings, the annular stator core being composed of... It consists of several independent enhanced E-type stator modules, with adjacent enhanced E-type stator modules spaced apart. The number of teeth on the annular stator is The independent reinforced E-type stator module has trapezoidal slots evenly spaced around its circumference, with the slot openings facing the axis. Concentrated windings are arranged within these slots. A single annular stator has a total of... A concentrated winding; the independent reinforced E-type stator module has two rectangular slots on each of its three tooth poles along the axial direction, with the openings of the rectangular slots facing the axis; the mover includes a mover yoke, salient pole mover teeth evenly arranged along the circumferential and axial directions of the surface, a rotating shaft, and bearings, with the annular stator core sleeved on the rotating shaft via bearings; the mover can cooperate with any number of annular stators to perform linear, rotary, and helical motion; The linear unit and the rotary unit share a set of windings. When the stator teeth and the moving teeth are not aligned in the axial and radial directions, they simultaneously generate thrust and torque components. With any number of annular stators, the drive signals of the windings on each annular stator tooth are controlled separately to generate thrust. F 1 、F 2. F 3、…、 F m With torque T 1 、T 2. T 3、…、 T m The total thrust and total torque generated by the annular stator can be expressed by the following formulas: ， By controlling the current in the windings on each annular stator tooth, the motor can achieve decoupled control of linear motion, rotary motion and helical motion. The motor achieves decoupled control of linear, rotary, and helical motion, including the following steps: Step A: Acquire the real-time rotational mechanical angular position of the mover. θ Linear position x Step B: Determine the excitation state of each phase of the toroidal stator winding; Step B: Adjust the thrust component generated by a single stator by adjusting the drive signal of the winding. F 1 、F 2. F 3、…、 F m and torque component T 1 、T 2. T 3、…、 T m ;in Indicates the first m The total thrust generated by the annular stator Indicates the first m The total torque generated by the annular stator Represented as the first m The first ring stator q indivual( Enhance the thrust generated by the E-type stator module. Represented as the first m The first ring stator q The torque generated by the enhanced E-type stator module; 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 simultaneously to achieve helical motion.

2. The control method for a highly scalable, strongly coupled two-degree-of-freedom switched reluctance motor according to claim 1, characterized in that: The annular stators are placed at equal intervals along the axial direction and at the same angle.

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

4. The control method for a highly scalable, strongly coupled two-degree-of-freedom switched reluctance motor according to claim 1, characterized in that: The rectangular slots of the independent reinforced E-type stator module teeth are of equal size.

5. The control method for a highly scalable, strongly coupled two-degree-of-freedom switched reluctance motor according to claim 1, characterized in that: The dimensions of the salient pole mover teeth are adapted to the dimensions of the rectangular opening slots of the reinforced E-type stator module teeth.

6. The control method for a highly scalable, strongly coupled two-degree-of-freedom switched reluctance motor according to claim 1, characterized in that: exist In the case of a single annular stator, the drive signal controlling the windings on the stator teeth simultaneously generates thrust. F With torque T The motor can achieve helical motion at specific linear and rotational speeds.

7. The control method for a highly scalable, strongly coupled two-degree-of-freedom switched reluctance motor according to claim 1, characterized in that: exist In the case of two annular stators, the drive signals of the windings on the teeth of the two annular stators are controlled separately to generate thrust. 、 With torque 、 ,in Indicates the first m The total thrust generated by the annular stator Indicates the first m The total torque generated by the annular stator Represented as the first m The first ring stator q indivual( Enhance the thrust generated by the E-type stator module. Represented as the first m The first ring stator q Torque generated by an enhanced E-type stator module; total thrust generated by the annular stator. F=F 1 +F 2. Total torque generated T=T 1 +T 2; By controlling the current in the windings on the two annular stator teeth, the motor can achieve decoupled control of linear motion, rotary motion and helical motion.

8. The control method for a highly scalable, strongly coupled two-degree-of-freedom switched reluctance motor according to claim 1, characterized in that: exist In the case of three annular stators, the drive signals of the windings on each annular stator tooth are controlled separately to generate thrust. 、 '、 With torque 、 , Total thrust generated by the annular stator F=F 1 +F 2 +F 3. Total torque generated T=T 1 +T 2 +T 3; By controlling the current in the windings of the three annular stator teeth, the motor can achieve decoupled control of linear motion, rotary motion and helical motion.

9. The control method for a highly scalable, strongly coupled two-degree-of-freedom switched reluctance motor according to claim 1, characterized in that: Given a reference linear velocity v * and the required thrust F By adjusting the reference values ​​of the phase voltages of each toroidal stator winding u k1 * , u k2 * , u k3 * ... u km * , making the actual voltage u k1 , u k2 , u k3 ... u km follow u k1 * , u k2 * , u k3 * ... u km * The changes, among which u km For the first m The voltage of the k-th phase winding of the annular stator; and the resulting thrust reaches F When a single toroidal stator three-phase winding is energized simultaneously, the resulting torques cancel each other out, thus yielding... At this moment, the total torque on the mover is 0, and the total thrust is... The mover performs a single linear motion.

10. The control method for a highly scalable, strongly coupled two-degree-of-freedom switched reluctance motor according to claim 1, characterized in that: By giving a reference angular velocity * and the required torque T By adjusting the reference values ​​of the phase voltages of each toroidal stator winding u k1 * , u k2 * , u k3 * ... u km * , making the actual voltage u k1 , u k2 , u k3 ... u km follow u k1 * , u k2 * , u k3 * ... u km * The change in [something] causes the generated torque to reach [something]. T To obtain the thrust component generated by the motor at this time F 1 、F 2. F 3、…、 F m The thrust generated by each annular stator makes... At this moment, the moving part receives a total thrust. F The total torque is 0. T for The mover performs a separate rotational motion.

11. The control method for a highly scalable, strongly coupled two-degree-of-freedom switched reluctance motor according to claim 1, characterized in that: Taking three stator rings as an example, based on the given reference linear velocity... v * and the required thrust F Reference angular velocity * and the required torque T By adjusting the reference values ​​of the phase voltages of each toroidal stator winding. u k1 * , u k2 * , u k3 * ... u km * , making the actual voltage u k1 , u k2 , u k3 ... u km follow u k1 * , u k2 * , u k3 * ... u km * The change in [the torque] causes the total torque generated to reach [the desired value]. To obtain the thrust component generated by the motor at this time F 1 、F 2. F 3、…、 F m ; thereby increasing the total thrust generated to The moving part undergoes spiral motion.

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