Electric coaxial double-rotor integrated driving device

Abstract

The invention provides an electric coaxial dual-rotor integrated driving device, and relates to the technical field of aircraft design and manufacturing. The device comprises a coaxial contra-rotating permanent magnet synchronous motor, a motor driving module used for driving the coaxial contra-rotating permanent magnet synchronous motor to operate and two sets of paddles installed on output shafts of the coaxial contra-rotating permanent magnet synchronous motor, the coaxial contra-rotating permanent magnet synchronous motor is provided with two output shafts on the same side, and the two output shafts are arranged in a sleeved mode. The rotation directions of the two output shafts are opposite, and the two sets of paddles are installed on the two output shafts respectively. The device is large in power volume ratio, high in power density, simple in structure, easy and convenient to control, capable of effectively improving the effective load of the electric multi-rotor unmanned aerial vehicle, high in reliability and easy to implement. The multi-rotor unmanned aerial vehicle is simple in structure, high in integration level and capable of self-balancing reaction torque, so that the multi-rotor unmanned aerial vehicle can be matched with a single set or multiple sets of coaxial double-rotor power devices, and the overall structural layout is more convenient.

Description

Technical Field

[0001] The invention relates to the technical field of aircraft design and manufacturing, and in particular provides an electric coaxial twin-rotor integrated drive device. Background Art

[0002] Existing electric unmanned helicopter / rotorcraft drive devices generally use electric motors as power sources to provide lift and propulsion for helicopters, but have defects such as complex structure, high energy consumption, and poor endurance.

[0003] Most of the rotors on electric unmanned helicopters / rotorcrafts use single / multiple pairs of counter-rotating twin propellers. This is because the design of a single blade will cause the aircraft to rotate in the opposite direction due to the reverse torsional torque generated by the rotation of the rotor. The design of a single blade requires the tail rotor to balance this reverse torque, so multi-rotor drones mostly use counter-rotating twin propellers to offset each other's reverse torque, which can greatly simplify the structure of electric unmanned helicopters / rotorcrafts and increase the payload.

[0004] At present, there are three main types of electric-driven twin-propeller devices used at home and abroad:

[0005] Two independent motors drive two sets of blades to rotate in opposite directions. This driving method has a relatively simple principle, but the transmission system is expensive, and the volume and weight are large. Currently, this type of drive device is widely used in large ship propulsion systems.

[0006] The counter-rotating propellers are rotated by a single motor through a complex planetary gear transmission system. Its complex gear reducer transmission system must not only achieve mechanical deceleration, but also complete the "mechanical fission" from one mechanical input to two mechanical outputs, and then directly drive the counter-rotating propellers to rotate through the inner and outer propulsion shafts, resulting in a relatively complex mechanical transmission part and low mechanical transmission efficiency.

[0007] A permanent magnet motor with a special structure is used to achieve single-ended dual-axis concentric output, but it is used in larger underwater propulsion propellers, which are large in size and not suitable for smaller multi-rotor drones. Summary of the invention

[0008] The purpose of this application is to improve the utilization rate of electric energy, simplify the drive device, improve the power-to-weight ratio of the drive device, and further increase the payload of the electric unmanned helicopter / rotorcraft, and to propose a drive device with high power density, simple control, small size and light weight.

[0009] In order to achieve the above-mentioned object, the present invention adopts the following technical scheme: an electric coaxial dual-rotor integrated drive device, the device comprising a coaxial counter-rotating permanent magnet synchronous motor, a motor drive module for driving the coaxial counter-rotating permanent magnet synchronous motor to operate, and two sets of blades installed on the output shaft of the coaxial counter-rotating permanent magnet synchronous motor,

[0010] The coaxial counter-rotating permanent magnet synchronous motor is provided with two output shafts on the same side, the two output shafts are sleeved between each other, and the two output shafts rotate in opposite directions.

[0011] The two groups of blades are respectively mounted on two output shafts.

[0012] The electric coaxial twin-rotor integrated drive device provided by the present invention also has such technical features, the coaxial counter-rotating permanent magnet synchronous motor includes a casing, an upper stator-rotor assembly arranged in the casing, a lower stator-rotor assembly arranged in the casing, a hollow shaft bearing for fixing the upper stator-rotor assembly in the casing, a solid shaft bearing for fixing the lower stator-rotor assembly in the casing, an upper end cover of the casing and a rear end cover of the casing.

[0013] The electric coaxial twin-rotor integrated drive device provided by the present invention also has the following technical features: the upper stator-rotor assembly includes an upper stator, an upper permanent magnet rotor and a hollow shaft; the lower stator-rotor assembly includes a lower stator, a lower permanent magnet rotor and a solid shaft; the hollow shaft and the solid shaft are concentric; the hollow shaft and the solid shaft serve as the output shafts of the coaxial counter-rotating permanent magnet synchronous motor.

[0014] The electric coaxial twin-rotor integrated drive device provided by the present invention also has the following technical feature: the coils in the upper stator and the lower stator are connected in series and have opposite phase sequences.

[0015] The electric coaxial twin-rotor integrated drive device provided by the present invention also has the following technical features: if the three-phase winding of the lower stator is a1, b1, c1; the three-phase winding of the upper stator is a2, b2, c2; as, bs, cs are the starting ends of each phase of the winding; af, bf, cf are the ending ends of each phase of the winding, then the starting ends as, bs, cs are respectively connected to a1+, b1+, c1+, a1- is connected to a2+, b1- is connected to c2+, c1- is connected to b2+, and the ending ends af, bf, cf are short-circuited together.

[0016] The electric coaxial twin-rotor integrated drive device provided by the present invention also has the following technical features: two opposite rotating magnetic fields are generated in the upper stator coil and the lower stator coil respectively through a sensorless control method, and the upper permanent magnet rotor and the lower permanent magnet rotor are driven to rotate respectively, and the two have the same rotation speed.

[0017] Beneficial Effects

[0018] The electric coaxial dual-rotor integrated drive device proposed in the present invention integrates the two rotors and stators of the dual-output shaft motor in one housing, and the solid shaft connected to the lower permanent magnet rotor passes through the hollow shaft connected to the upper permanent magnet rotor, realizing the same-side coaxial dual-output structure. The upper and lower stator windings adopt a series structure, the windings are in opposite phases, and the same set of alternating current is passed to achieve reverse rotation. Only one AC driver is required for the upper and lower stator windings. The motor drive adopts a sensorless control method, and the rotor position is judged by the current, and no additional position sensor is required. During control, the position of one rotor is used as a control reference, and the other rotor follows freely. The load of the rotor is mainly affected by the speed. The higher the speed, the greater the rotor load. This feature makes the above-mentioned free following control scheme easier to implement and less likely to cause a loss of step. The characteristics of coaxial reversal can simplify the structure of the coaxial dual-rotor power system of a multi-rotor drone, with a large power-to-volume ratio and high power density, and increase the payload of the electric multi-rotor drone. It is simple to control, highly reliable and easy to implement. Because of its simple structure, high integration, and ability to self-balance anti-torque, multi-rotor UAVs can be matched with single or multiple coaxial twin-rotor power units, making the overall structural layout more convenient.

[0019] The electric coaxial dual-rotor integrated drive device provided by the present invention has a large power-to-volume ratio, high power density, simple structure, simple control, can effectively increase the payload of electric multi-rotor drones, has high reliability and is easy to implement. Because of its simple structure, high integration, and self-balancing anti-torque, multi-rotor drones can be matched with a single or multiple coaxial dual-rotor power devices, and the overall structural layout is more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 This is a schematic diagram of the structure of the electric coaxial twin-rotor integrated drive device provided by the present invention;

[0022] Figure 2 A schematic diagram of the structure of a motor and a blade provided in an embodiment of the present invention;

[0023] Figure 3 The upper and lower stator windings are expanded according to the embodiment of the present invention.

[0024] Among them, 1: coaxial counter-rotating permanent magnet synchronous motor; 101: upper stator; 102: upper permanent magnet rotor; 103: casing; 104: lower stator; 105: lower permanent magnet rotor; 106: winding tap; 107: rear end cover of casing; 108: solid shaft bearing; 109: solid shaft; 110: hollow shaft bearing; 111: hollow shaft; 112: upper end cover of casing; 21: reverse rotating blades; 22: forward rotating blades; 3: motor drive module. DETAILED DESCRIPTION

[0025] The present application is further described in detail below in conjunction with the accompanying drawings and examples, but it should be noted that these implementation methods are not limitations of the present application, and equivalent changes or substitutions in functions, methods, or structures made by ordinary technicians in the field based on these implementation methods are all within the scope of protection of the present application.

[0026] In the description of the embodiments of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the creation of the present application and simplifying the description, and do not indicate or imply 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 creation of the present application.

[0027] In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the invention of this application, unless otherwise specified, the meaning of "plurality" is two or more.

[0028] The terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention of this application can be understood by specific circumstances.

[0029] like Figure 1-3As shown, an embodiment of the present application provides an electric coaxial twin-rotor integrated drive device, the device comprising a coaxial counter-rotating permanent magnet synchronous motor 1, a motor drive module 3 for driving the coaxial counter-rotating permanent magnet synchronous motor 1 to operate, and two groups of blades mounted on the output shaft of the coaxial counter-rotating permanent magnet synchronous motor 1, the two groups of blades comprising counter-rotating blades 201 and forward-rotating blades 202,

[0030] The coaxial counter-rotating permanent magnet synchronous motor 1 is provided with two output shafts on the same side, the two output shafts are sleeved between each other, and the two output shafts rotate in opposite directions.

[0031] The two groups of blades are respectively mounted on two output shafts.

[0032] In some embodiments, the coaxial counter-rotating permanent magnet synchronous motor 1 includes a casing 103, an upper stator-rotor assembly arranged in the casing 103, a lower stator-rotor assembly arranged in the casing 103, a hollow shaft bearing 110 for fixing the upper stator-rotor assembly in the casing 103, a solid shaft bearing 108 for fixing the lower stator-rotor assembly in the casing 103, an upper end cover 112 of the casing, and a rear end cover 107 of the casing.

[0033] In some embodiments, the upper stator-rotor assembly includes an upper stator 101, an upper permanent magnet rotor 102 and a hollow shaft 111, and the lower stator-rotor assembly includes a lower stator 104, a lower permanent magnet rotor 105 and a solid shaft 110. The hollow shaft 111 and the solid shaft 110 are concentric, and the hollow shaft 111 and the solid shaft 110 serve as the output shaft of the coaxial counter-rotating permanent magnet synchronous motor 1.

[0034] In some embodiments, the coils in the upper stator 101 and the lower stator 104 are connected in series and have opposite phase sequences.

[0035] In some embodiments, if the three-phase winding of the lower stator 104 is a1, b1, c1; the three-phase winding of the upper stator 101 is a2, b2, c2; as, bs, cs are the starting ends of each phase of the winding; af, bf, cf are the ending ends of each phase of the winding, then the starting ends as, bs, cs are respectively connected to a1+, b1+, c1+, a1- is connected to a2+, b1- is connected to c2+, c1- is connected to b2+, and the ending ends af, bf, cf are short-circuited together. Two opposite rotating magnetic fields are generated in the upper stator coil and the lower stator coil respectively by a sensorless control method. The principle of generating magnetic fields in opposite rotating directions is that the permanent magnet synchronous motor needs to pass a certain sequence of currents through the stator winding to generate a magnetic field that drives the permanent magnet rotor to rotate. Assuming that the order of current passing through the upper stator winding is abc, a counterclockwise rotating magnetic field is generated. After the above series connection, the order of current passing through the lower stator winding is acb, which will generate a clockwise rotating magnetic field. The magnetic fields generated by the upper and lower stator windings are in opposite directions and have the same speed. The above method is used to drive the upper permanent magnet rotor 102 and the lower permanent magnet rotor 105 to rotate respectively, wherein the upper permanent magnet rotor 102 rotates counterclockwise and the lower permanent magnet rotor 105 rotates clockwise, and the two have the same speed.

[0036] In some embodiments, two opposite rotating magnetic fields are generated in the upper stator coil and the lower stator coil respectively through a sensorless control method, and the upper permanent magnet rotor and the lower permanent magnet rotor are driven to rotate respectively, and the rotation speeds of the two are the same.

[0037] The above is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application. The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and variations can be made without departing from the technical principles of the present application, and these improvements and variations should also be regarded as the protection scope of the present application.

Claims

1. An electric coaxial twin-rotor integrated drive device, characterized in that: The device comprises a coaxial counter-rotating permanent magnet synchronous motor, a motor driving module for driving the coaxial counter-rotating permanent magnet synchronous motor to operate, and two sets of blades installed on the output shaft of the coaxial counter-rotating permanent magnet synchronous motor. The coaxial counter-rotating permanent magnet synchronous motor is provided with two output shafts on the same side, the two output shafts are sleeved between each other, and the two output shafts rotate in opposite directions. The two groups of blades are respectively mounted on two output shafts.

2. The electric coaxial twin-rotor integrated drive device according to claim 1, characterized in that: The coaxial counter-rotating permanent magnet synchronous motor includes a casing, an upper stator-rotor assembly arranged in the casing, a lower stator-rotor assembly arranged in the casing, a hollow shaft bearing for fixing the upper stator-rotor assembly in the casing, a solid shaft bearing for fixing the lower stator-rotor assembly in the casing, an upper end cover of the casing, and a rear end cover of the casing.

3. The electric coaxial twin-rotor integrated drive device according to claim 2, characterized in that: The upper stator-rotor assembly includes an upper stator, an upper permanent magnet rotor and a hollow shaft, and the lower stator-rotor assembly includes a lower stator, a lower permanent magnet rotor and a solid shaft. The hollow shaft and the solid shaft are concentric, and the hollow shaft and the solid shaft serve as the output shaft of the coaxial counter-rotating permanent magnet synchronous motor.

4. The electric coaxial twin-rotor integrated drive device according to claim 3, characterized in that: The coils in the upper stator and the lower stator are connected in series and have opposite phase sequences.

5. The electric coaxial twin-rotor integrated drive device according to claim 4, characterized in that: If the three-phase winding of the lower stator is a1, b1, c1; the three-phase winding of the upper stator is a2, b2, c2; as, bs, cs are the starting ends of each phase of the winding; af, bf, cf are the ending ends of each phase of the winding. Then, the starting ends as, bs, cs are connected to a1+, b1+, c1+ respectively, a1- is connected to a2+, b1- is connected to c2+, c1- is connected to b2+, and the ending ends af, bf, cf are short-circuited together.

6. The electric coaxial twin-rotor integrated drive device according to claim 4, characterized in that: Two opposite rotating magnetic fields are generated in the upper stator coil and the lower stator coil respectively through a sensorless control method, and the upper permanent magnet rotor and the lower permanent magnet rotor are driven to rotate respectively, and the speeds of the two are the same.

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