Linear rotary switched reluctance motor and control method thereof

Abstract

The invention discloses a linear rotary switched reluctance motor and a control method thereof.The linear rotary switched reluctance motor comprises a rotor, a stator and an annular winding located on a stator yoke, the rotor comprises a rotor yoke and rotor teeth, and the rotor teeth comprise left rotor teeth, right rotor teeth and a middle circular ring; the left mover teeth are arranged on the left side of the mover yoke in the circumferential direction, the right mover teeth are arranged on the right side of the mover yoke in the circumferential direction, and the right mover teeth and the left mover teeth are arranged in a staggered mode in the circumferential direction. The middle circular ring is located between the left rotor tooth and the right rotor tooth. According to the improved rotor type linear rotary switched reluctance motor, the linear stroke is increased and the magnetic field coupling strength is reduced by optimizing the layout from the structure of the motor body; the stator adopts a U-shaped modular structure, compared with a traditional motor structure, the stator has a shorter magnetic flux path, reduces loss in the energy flowing process, improves the power density of the motor, has multiple operation modes, and meets multi-occasion operation.

Description

Technical Field

[0001] The invention belongs to the technical field of linear rotary switched reluctance motors, and in particular relates to a linear rotary switched reluctance motor and a control method thereof. Background Art

[0002] The rapid development of the manufacturing industry and the continuous improvement of manufacturing level have driven the linear rotary switched reluctance motor to develop in the direction of high reliability, high power density, strong fault tolerance and diverse operation modes. The existing dual-armature linear rotary switched reluctance motor is mainly divided into three types: radial, circumferential and axial arrangement of the stator. The linear unit and the rotary unit of the radially arranged motor are independent of each other, and the magnetic field coupling is mainly concentrated in the yoke of the rotor. This type of motor has a low degree of coupling and is simple to control, but it is not easy to assemble. The linear unit and the rotary unit of the circumferentially arranged motor are also independent of each other and simple to control, but the winding utilization rate of this type of motor is low, the torque is discontinuous and there is an obvious end effect; the axially arranged motor is the most common, and the motor structure and assembly process are simple, but there are problems such as short linear stroke, low power density and single operation mode. Therefore, in order to solve the above problems of the axially arranged linear rotary switched reluctance motor, this paper proposes a linear rotary switched reluctance motor and its control method. Summary of the invention

[0003] In order to solve the above problems, the present invention provides a linear rotary switched reluctance motor and a control method thereof.

[0004] The linear rotary switched reluctance motor of the present invention comprises a mover, a stator and an annular winding located on a stator yoke, wherein the mover comprises: a mover yoke, mover teeth, wherein the mover teeth comprise left mover teeth and right mover teeth, wherein the left mover teeth are circumferentially arranged on the left side of the mover yoke, and the right mover teeth are circumferentially arranged on the right side of the mover yoke, wherein both the left mover teeth and the right mover teeth are convex-structure movers, and generate torque and thrust at the same time, and the right mover teeth are staggered with the left mover teeth in the circumferential direction; and an intermediate circular ring, wherein the intermediate circular ring is also a mover tooth, and the intermediate circular ring is located between the left mover teeth and the right mover teeth, and is an annular mover that only generates thrust.

[0005] Optionally, there are two stators, namely stator 1 and stator 2, and the two stators are staggered in the circumferential direction.

[0006] Optionally, the left-side movable teeth and the right-side movable teeth have an angle difference of 18° in the circumferential direction, and the stator 1 and the stator 2 have an angle difference of 18° in the circumferential direction.

[0007] Optionally, the stator teeth of stator 1 and stator 2 both adopt U-shaped modules, each stator includes six U-shaped modules evenly arranged along the circumferential direction, and two adjacent U-shaped modules differ by 60° in the circumferential direction.

[0008] Optionally, the annular winding is located on the stator yoke of the U-shaped module, and two annular windings with a difference of 180° on each stator are connected in series to form one phase. Stator one includes phase A winding, phase B winding and phase C winding, and stator two includes phase D winding, phase E winding and phase F winding.

[0009] The control method of the linear rotary switched reluctance motor of the present invention, the linear motion unit and the rotary motion unit of the motor share a set of windings, the stator teeth and the mover teeth simultaneously generate thrust components and torque components when they are not aligned axially and radially, and under the common constraints of the axial position and angle of the mover, the drive signals of the two stator phase windings are respectively controlled to generate torques T1 and T2 and thrusts F1 and F2; wherein T1 and T2 respectively represent the torques generated by stator one and stator two, F1 and F2 respectively represent the thrusts generated by stator one and stator two, and T and F respectively represent the total torque and total thrust after the superposition of stator one and stator two; the torques generated by the two stator phase windings are in the same direction and the thrusts are in opposite directions, the total torque T generated is T1+T2, and the total thrust generated is F=F1-F2.

[0010] The motor can realize decoupling control of linear motion, rotational motion and spiral motion, θ and x represent the angular position and linear position of the mover respectively; θ ona ,θ onb ,θ onc ,θ ond ,θ one and θ onf They represent the conduction angle of each phase winding of the stator during the rotational motion control; x ona 、x onb 、x onc 、x ond 、x one and x onf They represent the conduction angle of each phase winding of the stator during linear motion control; ψ1(x1, θ1, i k1 ) and ψ2(x2,θ2,i k2 ) represent the static magnetic flux of stator 1 and stator 2 respectively; x1 and x2 are the linear positions of the mover relative to stator 1 and stator 2, θ1 and θ2 are the angular positions of the mover relative to stator 1 and stator 2, i k1 is the phase current of the k-th phase winding of the stator, i k2 is the phase current of the second k-th phase winding of the stator; ω, ω * and Δω represent the actual angular velocity of the mover, the reference angular velocity, and the difference between them respectively; v, v * and Δv represent the actual linear velocity of the mover, the reference linear velocity and the difference between them respectively; u k1 and u k1 * Respectively represent the actual value and reference value of the stator winding voltage; uk2 and u k2 * The actual value of the voltage of the second stator winding and the voltage reference value are respectively indicated; the following steps are included:

[0011] S1. Collect the real-time rotation angle position θ and linear position x of the rotor to determine the excitation state of each phase winding in the stator;

[0012] S2. Control of thrust components F1, F2 and torque components T1, T2 is achieved by adjusting the driving signal of the winding.

[0013] The S1 includes:

[0014] S101. Define the stator teeth of the A-phase winding of stator 1 to be completely aligned with the left rotor teeth as the initial position; one electrical cycle of the linear motion unit is 100 mm, and the control interval is [-50 mm, 50 mm]; one electrical cycle of the rotary motion unit is 36°, and the control interval is [0, 36°];

[0015] S102. Set the conduction angle θ of the A phase winding ona ∈[0, 12°]∪[35°, 36°], B-phase winding conduction angle θ onb ∈[11°,24°], C phase winding conduction angle θ onc ∈[23°, 36°], D phase winding conduction angle θ ond ∈[18°, 31°], E phase winding conduction angle θ one ∈[30, 36°]∪[0°, 7°], F phase winding conduction angle θ onf ∈[6°, 19°]; the linear motion unit control intervals of the A-phase winding, the B-phase winding, the C-phase winding, the D-phase winding, the E-phase winding, and the F-phase winding are all x on ∈[-50mm, 50mm].

[0016] The S2 includes:

[0017] S201, obtain static flux data ψ1(x1, θ1, i k1 ) and ψ2(x2,θ2,i k2 );

[0018] S202, collecting the real-time linear velocity v and angular velocity ω of the mover;

[0019] S203, the linear velocity v of the mover and the set reference linear velocity v * Subtract the linear velocity difference Δv from the reference angular velocity ω. * Subtracting them, we get the angular velocity difference Δω;

[0020] S204, the linear velocity difference Δv, the angular velocity difference Δω, through the proportional integral controller 1 and the proportional integral controller 2, obtain the stator winding voltage reference value u k1 * and stator second winding voltage reference value u k2 * ;

[0021] S205, using the voltage balance equation of the phase windings of stator 1 and stator 2, deriving expressions of thrusts F1 and F2, and torques T1 and T2 generated by stator 1 and stator 2;

[0022] S206, using the voltage chopping control method, let the actual voltage u of the stator 1 and stator 2 phase windings k1 、u k2 Track u k1 * 、u k2 * , and then adjust the winding phase voltage of stator 1 and stator 2 in real time to achieve the purpose of adjusting thrust and torque;

[0023] S207, realizing linear motion, rotational motion and spiral motion of the mover by adjusting the total thrust and total torque of stator 1 and stator 2 acting on the mover.

[0024] The control method of the spiral motion is: according to a 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 stator 1 and stator 2 windings k1 * and u k2 * , so that the actual voltage u k1 and u k2 Follow u k1 * and u k2 * Changes make the total thrust of the two stators acting on the mover reach F=F1-F2; the total torque acting on the mover reaches T=T1+T2, and the mover performs spiral motion. It is worth noting that the spiral motion achieved by energizing the winding of a single stator is suitable for occasions requiring small torque and large thrust; the spiral motion achieved by energizing the winding of a double stator is suitable for occasions requiring large torque and small thrust.

[0025] The beneficial effects of the present invention are that the improved mover-type linear rotary switched reluctance motor of the present invention starts from the motor body structure and increases the linear stroke and reduces the magnetic field coupling strength by optimizing the layout; the stator adopts a U-shaped modular structure, which has a shorter magnetic flux path than the traditional motor structure, reduces the loss in the energy flow process, improves the power density of the motor, and has multiple operating modes to meet the needs of multiple occasions; the windings on the stator simultaneously generate a rotating magnetic field and a traveling wave magnetic field. The present invention proposes a decoupling control method, which realizes the decoupling of thrust and torque by controlling the driving signal of the winding, thereby driving the motor to realize linear, rotational and spiral motion. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the three-dimensional structure of the linear rotary switched reluctance motor of the present invention.

[0027] Figure 2 It is the magnetic lines of force when the A-phase winding is aligned and the magnetic lines of force when the D-phase winding is aligned.

[0028] Figure 3 The magnetic lines of force when the B-phase winding is aligned are the magnetic lines of force when the E-phase winding is aligned.

[0029] Figure 4 The magnetic lines of force of the A-phase winding, the B-phase winding and the C-phase winding when the A-phase winding is aligned with the left rotor teeth.

[0030] Figure 5 This is a schematic diagram when the stator 1 is completely aligned with the right mover teeth.

[0031] Figure 6 This is a schematic diagram of the stator 1 and the left mover teeth being completely aligned.

[0032] Figure 7 This is a schematic diagram of the stator 1 and the middle ring of the mover teeth being completely aligned.

[0033] Figure 8 Schematic diagram of the initial position of the spiral motion of a single stator of the motor when it is energized.

[0034] Fig. 9 This is a block diagram of the control method of the present invention.

[0035] Reference numerals:

[0036] Mover yoke 1; left-side mover tooth 2; middle ring 3; right-side mover tooth 4; annular winding 5; stator one 6; stator two 7; A-phase winding 8; B-phase winding 9; C-phase winding 10; D-phase winding 11; E-phase winding 12; F-phase winding 13; magnetic lines of force at the alignment position of A-phase winding 14; magnetic lines of force at the alignment position of D-phase winding 15; magnetic lines of force at the alignment position of B-phase winding 16; magnetic lines of force at the alignment position of E-phase winding 17; magnetic lines of force of B-phase winding when A-phase winding is aligned with the left-side mover tooth 18; magnetic lines of force of C-phase winding when A-phase winding is aligned with the left-side mover tooth 19. DETAILED DESCRIPTION

[0037] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0038] like Figure 1-Figure 9 As shown, the linear rotary switched reluctance motor of the present invention comprises a mover, a stator and an annular winding 5 located on the stator yoke, the mover comprises a mover yoke 1 and mover teeth, the mover teeth comprise a left mover tooth 2, a right mover tooth 4 and an intermediate circular ring 3, the left mover tooth 2 is circumferentially arranged on the left side of the mover yoke 1, the right mover tooth 4 is circumferentially arranged on the right side of the mover yoke 1, the intermediate circular ring 3 is located between the left mover tooth 2 and the right mover tooth 4, both the left mover tooth 2 and the right mover tooth 4 are convex structure movers, generating torque and thrust at the same time; the right mover teeth 4 are staggeredly arranged with the left mover teeth 2 in the circumferential direction, specifically, the left mover teeth 2 and the right mover teeth 4 are both 10, and the angles of the left mover teeth 2 and the right mover teeth 4 differ by 18° in the circumferential direction; the intermediate circular ring 3 is an annular mover, generating only thrust.

[0039] There are two stators, namely stator 1 6 and stator 2 7, which are arranged alternately in the circumferential direction. The angle between stator 1 6 and stator 2 7 in the circumferential direction differs by 18°.

[0040] The stator teeth of stator 1 6 and stator 2 7 both adopt U-shaped modules. Each stator includes six U-shaped modules evenly arranged along the circumferential direction, and the difference between two adjacent U-shaped modules in the circumferential direction is 60°.

[0041] The annular winding 5 is located on the stator yoke of the U-shaped module. Two annular windings with a phase difference of 180° on each stator are connected in series to form one phase. Stator one 6 includes A phase winding 8, B phase winding 9 and C phase winding 10, and stator two 7 includes D phase winding 11, E phase winding 12 and F phase winding 13.

[0042] Figure 2 The middle left picture shows the magnetic field lines 14 when the A-phase winding is aligned. Figure 2 The right side in the middle shows the magnetic field lines 15 when the D-phase winding is aligned.

[0043] Figure 3 The middle left picture shows the magnetic field lines 16 when the B phase winding is aligned. Figure 3 The middle right side shows the magnetic field lines 17 when the E-phase winding is aligned.

[0044] Figure 4 Shown in FIG. 1 are the magnetic lines of force 18 of the B-phase winding when the A-phase winding is aligned with the left-side rotor tooth and the magnetic lines of force 19 of the C-phase winding when the A-phase winding is aligned with the left-side rotor tooth.

[0045] 1. Principle of rotational motion:

[0046] When a single stator is energized, take stator 16 as an example. Figure 6 As shown, when stator 1 6 is located at the leftmost side of the motor, since the stator teeth of each phase winding of stator 1 6 are not axially aligned with the middle ring 3 of the mover, an irresistible thrust will be generated, so the motor cannot achieve rotational motion alone.

[0047] When the double electrons are energized, Figure 2 As shown, take the stator teeth of the A-phase winding 8 of the stator 1 6 and the left-side mover teeth 4 as completely aligned, and the stator teeth of the D-phase winding 11 of the stator 2 7 and the right-side mover teeth 4 as an example. When the B-phase winding 9 and the E-phase winding 12 are energized, according to the principle of minimum magnetic resistance, the mover teeth closest to the stator poles of the B-phase winding 9 and the E-phase winding 12 will be subjected to torque and rotate toward the stator poles of the B-phase winding 9 and the E-phase winding 12. When the stator poles of the B-phase winding 9 and the E-phase winding 12 completely overlap with the mover teeth, the torque force on the mover is 0. At this time, the B-phase winding 9 and the E-phase winding 12 are de-energized, and the C-phase winding 10 and the F-phase winding 13 are energized, generating a continuous rotation torque, driving the mover to rotate in the same direction.

[0048] In summary, when a single stator is energized, the motor cannot achieve rotational motion alone; when dual stators are energized, the motor can achieve rotational motion alone at any position.

[0049] 2. Principle of linear motion:

[0050] When a single stator is energized, Figure 4As shown, taking the case where the stator pole of the A-phase winding 8 is completely aligned with the left-side mover tooth 2 as an example, when the B-phase winding 9 and the C-phase winding 10 are energized, according to the principle of minimum magnetic resistance, the mover tooth closest to the stator pole of the B-phase winding 9 will be subjected to torque and rotate toward the stator pole of the B-phase winding 9, and the mover tooth closest to the stator pole of the C-phase winding 10 will be subjected to torque and rotate toward the stator pole of the C-phase winding 10. The two torque forces 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 stator poles of the B-phase winding 9 and the C-phase winding 10 are not axially aligned with the middle circular ring 3 of the mover, so the mover will only be subjected to a thrust directed to the stator 6, and moves to the time when the stator poles of the B-phase winding 9 and the C-phase winding 10 are completely aligned with the middle circular ring 3 of the mover, as shown in FIG. Figure 7 As shown, the thrust force on the mover is 0, at which time the B-phase winding 9 and the C-phase winding 10 are powered off; the D-phase winding 11, the E-phase winding 12 and the F-phase winding 13 are powered on, and the total torque on the mover is 0, and it is only subjected to the thrust directed to the stator 2 7. The mover realizes axial reciprocating linear motion.

[0051] When the dual stators are energized, the torques generated by the individual stators can cancel each other out no matter what position the motor is in, so the motor can achieve linear motion alone; however, the thrusts generated by the two stators are in opposite directions, so the direction of the motor's linear motion is toward the stator that generates the greater thrust.

[0052] In summary, the linear motion when a single stator is energized is suitable for occasions that require a larger thrust; the linear motion achieved when the dual stators are energized is suitable for occasions that require a smaller thrust; the designed motor has the advantage of multi-mode operation.

[0053] 3. Principle of spiral motion:

[0054] When a single stator is energized, Figure 8 As shown, take the case where the stator teeth of the A-phase winding 8 are completely aligned with the left-side mover teeth 2, but are partially axially misaligned with the middle ring 3 as an example; at this time, the B-phase winding 9 is energized, and according to the principle of minimum magnetic resistance, the mover tooth closest to the stator pole of the B-phase winding 9 is subjected to torque force and rotates toward the B-phase winding 9; because the B-phase winding 9 is axially misaligned with the middle ring 3, the mover will be subjected to a thrust directed toward the stator 6, and the motor will achieve a spiral motion directed toward the stator 6; when the B-phase winding 9 is axially aligned with the left-side mover teeth 2, the B-phase winding 9 is de-energized and the C-phase winding 10 is energized, and the mover will perform a spiral motion in the same direction; the A-phase winding 8, the B-phase winding 9, and the C-phase winding 10 are energized in turn, and the motor performs a spiral motion directed toward the stator 6 until each phase winding is axially aligned with the middle ring 3 of the mover.

[0055] When the double stators are energized, Figure 4As shown, taking the stator pole of the A-phase winding 8 completely aligned with the left rotor tooth 2, and the stator pole of the D-phase winding 11 completely aligned with the right rotor tooth 4 as an example; the torque direction generated by the two motors is the same, and the thrust direction is opposite, according to the A-phase winding 8 and the D-phase winding 11 are energized at the same time, the B-phase winding 9 and the E-phase winding 12 are energized at the same time, and the C-phase winding 10 and the F-phase winding 13 are energized at the same time. By controlling the driving signal of the winding, the motor torque and thrust are controlled, and then the spiral motion of the motor is realized.

[0056] In summary, the motor can realize clockwise and counterclockwise axial reciprocating spiral motion when both single-stator and double-stator are energized; the spiral motion when single-stator is energized is suitable for occasions requiring small torque and large thrust; the spiral motion when double-stator is energized is suitable for occasions requiring large torque and small thrust.

[0057] The control method of the linear rotary switched reluctance motor of the present invention is as follows: Fig. 9 As shown. The linear motion unit and the rotary motion unit of the motor share a set of windings. The stator teeth and the rotor teeth generate thrust components and torque components at the same time when they are not aligned axially and radially. Under the common constraints of the axial position and angle of the rotor, the drive signals of the two stator phase windings are controlled separately to generate torques T1 and T2 and thrusts F1 and F2. The torques generated by the two stator phase windings are in the same direction and the thrusts are in opposite directions. The total torque T generated is T1+T2, and the total thrust F generated is F1-F2.

[0058] The motor can realize decoupling control of linear motion, rotational motion and spiral motion, and comprises the following steps:

[0059] S1. Collect the real-time rotation angle position θ and linear position x of the rotor to determine the excitation state of each phase winding in the stator;

[0060] S101. Define the stator teeth of the A-phase winding 8 of the stator 6 to be completely aligned with the left rotor teeth 2 as the initial position; the linear motion unit has an electrical cycle of 100 mm, and the control interval is [-50 mm, 50 mm]; the rotary motion unit has an electrical cycle of 36°, and the control interval is [0, 36°];

[0061] S102. Set the conduction angle θ of the A-phase winding 8 ona ∈[0, 12°]∪[35°, 36°], the conduction angle of the B-phase winding 9 is θ onb ∈[11°,24°], C phase winding 10 conduction angle θ onc ∈[23°, 36°], conduction angle θ of D phase winding 11 ond ∈[18°, 31°], E phase winding 12 conduction angle θ one ∈[30, 36°]∪[0°, 7°], the conduction angle of the F-phase winding 13 is θ onf∈[6°,19°];The linear motion unit control intervals of phase A winding, 8, phase B winding, 9, phase C winding, 10, phase D winding, 11, phase E winding, 12 and phase F winding, 13 are all x on ∈[-50mm, 50mm].

[0062] S2. Control of thrust components F1, F2 and torque components T1, T2 is achieved by adjusting the driving signal of the winding.

[0063] S201, obtain static flux data ψ1(x1, θ1, i k1 ) and ψ2(x2,θ2,i k2 ), wherein x1 and x2 are the linear positions of the mover relative to stator 1 6 and stator 2 7, θ1 and θ2 are the angular positions of the mover relative to stator 1 6 and stator 2 7, i k1 is the phase current of the k-th phase winding of stator 1, i k2 is the phase current of the k-th phase winding of stator 27;

[0064] S202, collecting the real-time linear velocity v and angular velocity ω of the mover;

[0065] S203, the linear velocity v of the mover and the set reference linear velocity v * Subtract the linear velocity difference Δv from the reference angular velocity ω. * Subtracting them, we get the angular velocity difference Δω;

[0066] S204, according to the linear velocity difference Δv and the angular velocity difference Δω, the stator 1 6 winding voltage reference value u is obtained through the proportional integral controller 1 and the proportional integral controller 2. k1 * and stator winding voltage reference value u k2 * ;

[0067] S205, using the voltage balance equation of the phase windings of stator 1 6 and stator 2 7, derive the expressions of thrusts F1 and F2, torques T1 and T2 generated by stator 1 6 and stator 2 7;

[0068] S206, using the voltage chopping control method, let the actual voltage u of the stator 1 6 and stator 2 7 phase windings k1 、u k2 Track u k1 * 、u k2 * , and then adjust the winding phase voltage of stator 1 6 and stator 2 7 in real time to achieve the purpose of adjusting thrust and torque;

[0069] S207, by adjusting the total thrust and total torque of stator 1 6 and stator 2 7 acting on the mover, the linear motion, rotational motion and spiral motion of the mover are realized.

[0070] The method to realize linear motion control alone is: given a reference linear velocity v * and the required thrust F, by adjusting the stator 1 6 and stator 2 7 winding phase voltage reference value u k1 * and u k2 * , so that the actual voltage u k1 and u k2 Follow u k1 * and u k2 * Changes, the total thrust F of the two stators acting on the mover is F=F1-F2; the total torque T acting on the mover is T=T1+T2=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, because the thrust directions of stator 1 6 and stator 2 7 acting on the mover are opposite, it is only necessary to energize all the windings of a single stator.

[0071] The method for realizing rotational motion control alone is as follows: by giving a reference angular velocity ω * And the required torque T, by adjusting the stator 1 6 and stator 2 7 winding phase voltage reference value u k1 * and u k2 * , so that the actual voltage u k1 and u k2 Follow u k1 * and u k2 * Changes make the total thrust of the two stators acting on the mover reach F=F1-F2=0; the total torque acting on the mover reaches T=T1+T2, and the mover rotates alone at this time; it is worth noting that when the mover rotates alone, energizing only the corresponding winding of a single stator will produce an irreversible thrust, so it is necessary to energize the corresponding windings of the two stators at the same time.

[0072] The control method to achieve 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 stator 1 6 and stator 2 7 winding phase voltage reference value u k1 * and u k2 * , so that the actual voltage u k1 and u k2 Follow u k1* and u k2 * Changes make the total thrust of the two stators acting on the mover reach F=F1-F2; the total torque acting on the mover reaches T=T1+T2, and the mover performs spiral motion. It is worth noting that the spiral motion achieved by energizing the winding of a single stator is suitable for occasions requiring small torque and large thrust; the spiral motion achieved by energizing the winding of a double stator is suitable for occasions requiring large torque and small thrust.

[0073] In the description of the present invention, it is necessary to understand that the orientations or positional relationships indicated by the terms "axial", "radial", "circumferential", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0074] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features.

[0075] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0076] Although the above embodiments have been shown and described, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. Changes, modifications, substitutions and variations of the above embodiments by those of ordinary skill in the art are all within the scope of protection of the present invention.

Claims

1. A linear rotary switched reluctance motor, comprising a mover, a stator and an annular winding located on a stator yoke, characterized in that: The mover comprises: Mover yoke, The mover teeth include left mover teeth and right mover teeth, the left mover teeth are arranged on the left side of the mover yoke along the circumferential direction, and the right mover teeth are arranged on the right side of the mover yoke along the circumferential direction, the left mover teeth and the right mover teeth are both convex-structure movers, generating torque and thrust at the same time, and the right mover teeth and the left mover teeth are staggered in the circumferential direction; The middle circular ring is also a movable tooth. The middle circular ring is located between the left movable teeth and the right movable teeth. It is a circular ring movable tooth and only generates thrust.

2. The linear rotary switched reluctance motor according to claim 1, characterized in that: There are two stators, namely stator 1 and stator 2, and the two stators are staggered in the circumferential direction.

3. The linear rotary switched reluctance motor according to claim 2, characterized in that: The left-side movable teeth and the right-side movable teeth differ in circumferential angle by 18°, and the stator 1 and the stator 2 differ in circumferential angle by 18°.

4. The linear rotary switched reluctance motor according to claim 2, characterized in that: The stator teeth of the stator 1 and the stator 2 are both U-shaped modules, and each stator includes six U-shaped modules evenly arranged along the circumferential direction, and the difference between two adjacent U-shaped modules in the circumferential direction is 60°.

5. The linear rotary switched reluctance motor according to claim 4, characterized in that: The annular winding is located on the stator yoke of the U-shaped module. Two annular windings with a 180° difference on each stator are connected in series to form one phase. Stator one includes phase A winding, phase B winding and phase C winding, and stator two includes phase D winding, phase E winding and phase F winding.

6. A control method for a linear rotary switched reluctance motor according to any one of claims 1 to 5, characterized in that: The linear motion unit and the rotary motion unit of the motor 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. Under the common constraints of the axial position and angle of the mover, the drive signals of the two stator phase windings are controlled respectively to generate torques T1 and T2 and thrusts F1 and F2; wherein T1 and T2 respectively represent the torques generated by stator one and stator two, F1 and F2 respectively represent the thrusts generated by stator one and stator two, and T and F respectively represent the total torque and total thrust after the superposition of stator one and stator two; the torques generated by the two stator phase windings are in the same direction and the thrusts are in opposite directions, the total torque generated is T=T1+T2, and the total thrust generated is F=F1-F2.

7. The control method of the linear rotary switched reluctance motor according to claim 6, characterized in that: The motor can realize decoupling control of linear motion, rotational motion and spiral motion; θ and x represent the angular position and linear position of the mover respectively; θ ona ,θ onb ,θ onc ,θ ond ,θ one and θ onf They represent the conduction angle of each phase winding of the stator during the rotational motion control; x ona 、x onb 、x onc 、x ond 、x one and x onf They represent the conduction angle of each phase winding of the stator during linear motion control; ψ1(x1, θ1, i k1 ) and ψ2(x2,θ2,i k2 ) represent the static magnetic flux of stator 1 and stator 2 respectively; x1 and x2 are the linear positions of the mover relative to stator 1 and stator 2, θ1 and θ2 are the angular positions of the mover relative to stator 1 and stator 2, i k1 is the phase current of the k-th phase winding of the stator, i k2 is the phase current of the second k-th phase winding of the stator; ω, ω * and Δω represent the actual angular velocity of the mover, the reference angular velocity, and the difference between them respectively; v, v * and Δv represent the actual linear velocity of the mover, the reference linear velocity and the difference between them respectively; u k1 and u k1 * Respectively represent the actual value and reference value of the stator winding voltage; u k2 and u k2 * Respectively show the actual value and voltage reference value of the second stator winding voltage; These include the following steps: S1. Collect the real-time rotation angle position θ and linear position x of the rotor to determine the excitation state of each phase winding in the stator; S2. Control of thrust components F1, F2 and torque components T1, T2 is achieved by adjusting the driving signal of the winding.

8. The control method of the linear rotary switched reluctance motor according to claim 7, characterized in that: The S1 includes: S101. Define the stator teeth of the A-phase winding of stator 1 to be completely aligned with the left rotor teeth as the initial position; one electrical cycle of the linear motion unit is 100 mm, and the control interval is [-50 mm, 50 mm]; one electrical cycle of the rotary motion unit is 36°, and the control interval is [0, 36°]; S102. Set the conduction angle θ of the A phase winding ona ∈[0, 12°]∪[35°, 36°], B-phase winding conduction angle θ onb ∈[11°,24°], C phase winding conduction angle θ onc ∈[23°, 36°], D phase winding conduction angle θ ond ∈[18°, 31°], E phase winding conduction angle θ one ∈[30, 36°]∪[0°, 7°], F phase winding conduction angle θ onf ∈[6°, 19°]; the linear motion unit control intervals of the A-phase winding, the B-phase winding, the C-phase winding, the D-phase winding, the E-phase winding, and the F-phase winding are all x on ∈[-50mm, 50mm].

9. The control method of the linear rotary switched reluctance motor according to claim 7, characterized in that: The S2 includes: S201, obtain static flux data ψ1(x1, θ1, i k1 ) and ψ2(x2,θ2,i k2 ); S202, collecting the real-time linear velocity v and angular velocity ω of the mover; S203, the linear velocity v of the mover and the set reference linear velocity v * Subtract the linear velocity difference Δv from the reference angular velocity ω. * Subtracting them, we get the angular velocity difference Δω; S204, the linear velocity difference Δv, the angular velocity difference Δω, through the proportional integral controller 1 and the proportional integral controller 2, obtain the stator winding voltage reference value u k1 * and stator second winding voltage reference value u k2 * ; S205, using the voltage balance equation of the phase windings of stator 1 and stator 2, derive expressions of thrusts F1 and F2, and torques T1 and T2; S206, using the voltage chopping control method, let the actual voltage u of the stator 1 and stator 2 phase windings k1 、u k2 Track u k1 * 、u k2 * , and then adjust the winding phase voltage of stator 1 and stator 2 in real time to achieve the purpose of adjusting thrust and torque; S207, realizing linear motion, rotational motion and spiral motion of the mover by adjusting the total thrust and total torque of stator 1 and stator 2 acting on the mover.

10. The control method of the linear rotary switched reluctance motor according to claim 9, characterized in that: The control method of the spiral motion is: according to a 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 stator 1 and stator 2 windings k1 * and u k2 * , so that the actual voltage u k1 and u k2 Follow u k1 * and u k2 * Changes make the total thrust of the two stators acting on the mover reach F=F1-F2; the total torque acting on the mover reaches T=T1+T2, and the mover performs spiral motion. It is worth noting that the spiral motion achieved by energizing the winding of a single stator is suitable for occasions requiring small torque and large thrust; the spiral motion achieved by energizing the winding of a double stator is suitable for occasions requiring large torque and small thrust.

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