Double-rotor motor, starting control method and electric device

Abstract

The invention provides a double-rotor motor, a starting control method and an electric device, the double-rotor motor comprises a shell, a first rotor and a second rotor which rotate relative to each other are arranged in the shell, the first rotor sleeves the outer side of the second rotor, the first rotor is provided with an iron core and a coil which are used for generating an electromagnetic field, and the second rotor sleeves the iron core. The first rotor is provided with a first output shaft, the second rotor is provided with a second output shaft, the motor is characterized by further comprising a transmission shaft, the transmission shaft is parallel to the first output shaft and the second output shaft and is connected with the first output shaft and the second output shaft through transmission structures, and a speed change mechanism is arranged on the first output shaft or the transmission shaft. The embodiment of the invention has the advantages of small current in the starting process, direct starting with load under a full-voltage power frequency power supply, stability and no impact in the starting process, speed regulation under the power frequency power supply, full-speed operation and the like.

Description

Technical Field

[0001] The present disclosure relates to the technical field of electric motors, and in particular, to a dual-rotor motor, a starting control method, and an electric device. Background Art

[0002] The commonly used dual-rotor motors at present include single-phase motors and three-phase motors, and can also be divided into dual-rotor asynchronous motors and dual-rotor permanent magnet synchronous motors. Among them, when starting the dual-rotor motor, the two rotors of the motor rotate in opposite directions at the same time, and the controller timely controls the speed of the outer rotor so that the speed of the inner rotor gradually increases. When the speed of the outer rotor drops to zero, the speed of the inner rotor reaches the rated speed of the motor, and the motor enters the rated working state.

[0003] The dual-rotor three-phase asynchronous motor mainly consists of a first rotor, a second rotor, a control unit, and a housing. The first rotor is provided with an iron core and a coil that generate an electromagnetic field, and both the first rotor and the second rotor are in a free state. When starting and energizing, when the coil on the first rotor generates an electromagnetic force to drive the second rotor, the first rotor rotates in the opposite direction through the reaction force. Here, the synchronous speed of the rotating magnetic field generated by the electromagnetic coil is determined by the number of poles of the motor and the power supply frequency. When the dual-rotor motor is directly connected to the mains, the rotational speed of its output shaft is a fixed speed n0. At this time, when the first rotor rotates in the reverse direction, the rotational speed is n1. At this time, the rotational speed of the rotating magnetic field in the air gap between the first rotor and the second rotor is n2, and their relationship is n2 = n0 - n1. By controlling the speed of the first rotor, the rotational speed of the rotating magnetic field acting on the second rotor can be changed, thereby changing the speed of the second rotor.

[0004] In actual work, sometimes it is necessary to adjust the rotational speed of the output shaft of the dual-rotor motor according to the load condition or working requirements. For example, the braking torque of the brake in the dual-rotor motor can be changed by changing the control current magnitude of the brake, thereby changing the rotational speed of the first rotor, and finally changing the rotational speed of the rotating electromagnetic field, so as to achieve the purpose of changing the rotational speed of the second rotor. However, when controlling the rotational speed of the first rotor by the braking torque of the brake to change the rotational speed of the output shaft, although the rotational speed of the second rotor can be adjusted, part of the torque of the first rotor is consumed on the brake. Especially when only the friction braking method is used, there are also problems of wear and heat generation and brake cooling. In addition, when using the electromagnetic force braking method, there are also problems of heat generation and energy consumption, resulting in the influence on the speed regulation effect and low efficiency. Summary of the Invention

[0005] The purpose of the embodiments of the present disclosure is to provide a dual-rotor motor, a starting control method, and an electric device to solve the above problems existing in the prior art.

[0006] To solve the above technical problems, one aspect of the embodiments of the present disclosure provides a dual-rotor motor, including a housing. Inside the housing, a first rotor and a second rotor that rotate relative to each other are provided. The first rotor is sleeved outside the second rotor. The first rotor is provided with an iron core and a coil for generating an electromagnetic field. The first rotor has a first output shaft, and the second rotor has a second output shaft. The first output shaft and the second output shaft are coaxially arranged. The second output shaft is used to connect a load. It is characterized in that it further includes a transmission shaft. The transmission shaft is arranged parallel to the first output shaft and the second output shaft and is respectively connected through a transmission structure. A speed-changing mechanism is provided on the first output shaft or the transmission shaft.

[0007] In some embodiments, the first output shaft is connected to the transmission shaft through a first transmission structure. The transmission shaft is connected to the second output shaft through a second transmission structure. A brake is provided between the first rotor and the first transmission structure.

[0008] In some embodiments, the first transmission mechanism or the second transmission mechanism is a pulley or a gear set.

[0009] In some embodiments, when the first transmission mechanism and the second transmission mechanism are of the same type, the speed-changing mechanism has a reverse device.

[0010] In some embodiments, a clutch and a speed-regulating mechanism are provided on the first output shaft or the transmission shaft.

[0011] In some embodiments, the speed-changing mechanism, the clutch, and the speed-regulating mechanism are provided on the first output shaft. The speed-changing mechanism is arranged between the brake and the first transmission mechanism. The clutch is arranged between the brake and the speed-changing mechanism. The speed-regulating mechanism is arranged between the speed-changing mechanism and the first transmission mechanism.

[0012] In some embodiments, the speed-changing mechanism, the clutch, and the speed-regulating mechanism are provided on the transmission shaft. The speed-changing mechanism is arranged between the first transmission mechanism and the second transmission mechanism. The clutch is arranged between the first transmission mechanism and the speed-changing mechanism. The speed-regulating mechanism is arranged between the speed-changing mechanism and the clutch.

[0013] In some embodiments, the transmission shaft is arranged on the surface of the housing through a support bearing. The clutch, the speed-regulating mechanism, and the speed-changing reverse mechanism are provided on the housing.

[0014] Another aspect of the embodiments of the present disclosure provides a starting control method for a dual-rotor motor, where the dual-rotor motor is the dual-rotor motor described in any of the above items. The starting control method includes: controlling the first rotor to be in an unloaded state after receiving a starting command; controlling the first rotor and the second rotor to rotate in opposite directions after power-on. When the sum of the speeds of one rotor and the second rotor reaches a first predetermined value, braking the first rotor through a brake and gradually increasing the speed of the second rotor; when the speed of the second rotor reaches a second predetermined value, controlling the brake to stop outputting braking torque, and at the same time controlling the clutch to engage to connect the transmission shaft to the first output shaft, so that the torque generated by the first rotor is superimposed on the second output shaft; controlling a speed regulating mechanism to adjust the speed after starting is completed.

[0015] Another aspect of the embodiments of the present disclosure provides an electric device, including the dual-rotor motor described in any of the above items.

[0016] The embodiments of the present disclosure have the advantages of small starting current, being able to directly start with load under a full-voltage power frequency power supply, smooth and non-impact starting process, being able to adjust speed under a power frequency power supply, and full-speed operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments recorded in the embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 The first structural schematic diagram of the dual-rotor motor provided by an embodiment of the present disclosure;

[0019] Figure 2 The second structural schematic diagram of the dual-rotor motor provided by an embodiment of the present disclosure;

[0020] Figure 3 The third structural schematic diagram of the dual-rotor motor provided by an embodiment of the present disclosure;

[0021] Figure 4 The fourth structural schematic diagram of the dual-rotor motor provided by an embodiment of the present disclosure;

[0022] Figure 5 The first structural schematic diagram of the dual-rotor motor provided by another embodiment of the present disclosure;

[0023] Figure 6 The second structural schematic diagram of the dual-rotor motor provided by another embodiment of the present disclosure;

[0024] Figure 7 The third structural schematic diagram of the dual-rotor motor provided by another embodiment of the present disclosure;

[0025] Figure 8 The fourth structural schematic diagram of the dual-rotor motor provided by another embodiment of the present disclosure;

[0026] Figure 9 The working process schematic diagram of the electric device provided by an embodiment of the present disclosure;

[0027] Figure 10 The schematic diagram of speed regulation in the electric device provided by an embodiment of the present disclosure.

[0028] Reference numerals:

[0029] 1 - First rotor; 11 - First output shaft; 12 - Coil; 2 - Second rotor; 21 - Second output shaft; 3 - Transmission shaft; 4 - First transmission mechanism; 41 - First pulley; 42 - Second pulley; 43 - First belt; 44 - First gear; 45 - Second gear; 5 - Brake; 6 - Clutch; 7 - Speed regulation mechanism; 8 - Speed change mechanism; 9 - Second transmission mechanism; 91 - Third pulley; 92 - Fourth pulley; 93 - Second belt; 94 - Third gear; 95 - Fourth gear; 10 - Housing. Detailed implementation manners

[0030] Reference is made herein to the various solutions and features of the embodiments of the present disclosure with reference to the accompanying drawings.

[0031] It should be understood that various modifications can be made to the embodiments applied herein. Therefore, the above description should not be regarded as a limitation, but only as an example of the embodiments. Those skilled in the art will think of other modifications within the scope and spirit of the embodiments of the present disclosure.

[0032] The accompanying drawings included in the specification and forming a part of the specification illustrate the embodiments of the embodiments of the present disclosure, and together with the general description of the embodiments of the present disclosure given above and the detailed description of the embodiments given below are used to explain the principles of the embodiments of the present disclosure.

[0033] These and other features of the embodiments of the present disclosure will become apparent from the following description of the preferred forms of the embodiments given by way of non-limiting examples with reference to the accompanying drawings.

[0034] It should also be understood that although the embodiments of the present disclosure have been described with reference to some specific examples, those skilled in the art can surely implement many other equivalent forms of the embodiments of the present disclosure, which have the features as described in the claims and thus are all within the protection scope defined hereby.

[0035] When combined with the accompanying drawings, the above and other aspects, features, and advantages of the embodiments of the present disclosure will become more apparent in view of the following detailed description.

[0036] Specific embodiments of the embodiments of the present disclosure are hereinafter described with reference to the accompanying drawings; however, it should be understood that the embodiments claimed are merely examples of the embodiments of the present disclosure and may be implemented in various ways. Well-known and / or repetitive functions and structures are not described in detail to avoid obscuring the embodiments of the present disclosure with unnecessary or redundant details. Therefore, the specific structural and functional details claimed herein are not intended to be limiting, but rather are merely a basis and representative basis for the claims to teach those skilled in the art to use the embodiments of the present disclosure in substantially any suitable detailed structure in a variety of ways.

[0037] This specification may use the phrases "in one embodiment", "in another embodiment", "in yet another embodiment", or "in other embodiments", each of which may refer to one or more of the same or different embodiments according to the embodiments of the present disclosure.

[0038] Embodiments of the present disclosure provide a dual-rotor motor, as Figures 1-8 shown, which includes a housing 10, in which a first rotor 1 (equivalent to an outer rotor) and a second rotor 2 (equivalent to an inner rotor) are provided. Wherein, the first rotor 1 is sleeved outside the second rotor 2. Here, the first rotor 1 has a first output shaft 11, and the second rotor 2 has a second output shaft 21. The first rotor 1 can be connected to an external power supply device through, for example, a slip ring and a carbon brush. Wherein, the first output shaft 11 and the second output shaft 21 are coaxially arranged, and the second output shaft 21 serves as the output shaft of the dual-rotor motor to connect a load.

[0039] Further, a core and a coil 12 for generating an electromagnetic field are provided inside the first rotor 1. The first rotor 1 and the second rotor 2 of this embodiment rotate relative to each other inside the housing 10. Wherein, when the dual-rotor motor is powered on, the first rotor 1 generates an electromagnetic field and drives the second rotor 2 to rotate, and the first rotor 1 is driven to rotate in the reverse direction by the reaction force of the electromagnetic force generated by the electromagnetic field.

[0040] The dual-rotor motor in this embodiment has two degrees of freedom. Before the dual-rotor motor is powered on, both the first rotor 1 and the second rotor 2 can rotate freely. Since the coil 12 capable of generating a rotating electromagnetic field is provided inside the first rotor 1, when the first rotor 1 of the dual-rotor motor is powered on, the electromagnetic force generated by the coil 12 on the first rotor 1 drives the second rotor 2 to rotate. At the same time, the reaction force acts on the first rotor 1, and the first rotor 1 rotates in the direction opposite to that of the second rotor 2 due to the lack of force support. In this embodiment, both the first rotor 1 and the second rotor 2 of the dual-rotor motor can output torque outwardly and the directions of the torques are opposite. If the rotational speeds of the two rotors are equal and the directions are the same, the output torques of the two rotors can achieve superposition of the output torques and serve as the output torque of the dual-rotor motor.

[0041] Furthermore, the dual-rotor motor further includes a transmission shaft 3. Here, the transmission shaft 3 is arranged parallel to the first output shaft 11 and the second output shaft 12, for example, arranged outside the housing 10. Among them, the first output shaft 11 of the first rotor 1 is connected to one end of the transmission shaft 3 through a first transmission structure 4, and the other end of the transmission shaft 3 is connected to the second output shaft 21 through a second transmission mechanism 9.

[0042] Furthermore, a brake 5 is provided between the first rotor 1 and the first transmission structure 4. The brake 5 can be fixed inside the housing 10, for example. The first output shaft 11 is connected to the first transmission mechanism 4 through the brake 5. The brake 5 can apply a braking torque to the first output shaft 11, so as to control the transmission of the power of the first output shaft 11 to the first transmission mechanism 4 through the brake 5.

[0043] In the dual-rotor motor of this embodiment, the self-rotation of the second output shaft 21 of the second rotor 2 is used as the first path of torque output of the dual-rotor motor; the power of the first output shaft 11 of the first rotor 1 is transmitted to the transmission shaft 3 through the first transmission mechanism 4, and the power on the transmission shaft 3 is transmitted to the second output shaft 21 through the second transmission mechanism 9 as the second path of torque output. When the direction of the first path of torque output is the same as the direction of the second path of torque output, the second path of torque output here can be superimposed with the first path of torque output, for example, the first path of torque output is adjusted through the second path of torque output.

[0044] The first transmission mechanism 4 or the second transmission mechanism 9 in this embodiment may be a pulley or a gear set. In this way, for example, a pulley or a gear set is used to connect the first output shaft 11 of the first rotor 1 and the transmission shaft 3, and a pulley or a gear set is used to connect the second torque output formed by the first rotor 1 and the first torque output formed by the second rotor 2.

[0045] In one embodiment, as Figure 1 shown, the first transmission mechanism 4 here may be, for example, a pulley, which includes a first pulley 41 and a second pulley 42. A first belt 43 is arranged between the first pulley 41 and the second pulley 42. The first pulley 41 is connected to the first output shaft 11, and the second pulley 42 is connected to the transmission shaft 3. In this way, the rotation of the first output shaft 11 drives the rotation of the first pulley 41, and the rotation of the first pulley 41 drives the rotation of the second pulley 42 through the first belt 43, thereby driving the rotation of the transmission shaft 3.

[0046] Further, the second transmission mechanism 9 here may be, for example, a pulley, which includes a third pulley 91 and a fourth pulley 92. A second belt 93 is arranged between the third pulley 91 and the fourth pulley 92. The third pulley 91 is connected to the transmission shaft 3, and the fourth pulley 92 is connected to the second output shaft 21. In this way, the rotation of the transmission shaft 3 drives the rotation of the third pulley 91, and the rotation of the third pulley 91 drives the rotation of the fourth pulley 92 through the second belt 93, thereby driving the rotation of the second output shaft 21.

[0047] In another embodiment, as Figure 2 shown, the first transmission mechanism 4 here may be, for example, a gear set, which includes a first gear 44 and a second gear 45 that mesh with each other. The first gear 44 is connected to the first output shaft 11, and the second gear 45 is connected to the transmission shaft 3. In this way, the rotation of the first output shaft 11 drives the rotation of the first gear 44, and the rotation of the first gear 44 drives the rotation of the second gear 45, thereby driving the rotation of the transmission shaft 3.

[0048] Continuing as Figure 2 shown, the second transmission mechanism 9 here may be, for example, a gear set, which includes a third gear 94 and a fourth gear 95 that mesh with each other. The third gear 94 is connected to the transmission shaft 3, and the fourth gear 95 is connected to the second output shaft 21. In this way, the rotation of the transmission shaft 3 drives the rotation of the third gear 94, and the rotation of the third gear 94 drives the rotation of the fourth gear 95, thereby driving the rotation of the second output shaft 21.

[0049] Further, a speed-changing mechanism 8 is provided on the first output shaft 11 or the transmission shaft 3. The speed-changing mechanism 8 is used to achieve speed regulation. Here, the speed-changing mechanism 8 is a speed-changing device with a fixed speed ratio, and its speed ratio is i1. For example, it can be a speed-changing gearbox with a fixed speed ratio, especially a planetary gearbox.

[0050] In one embodiment, the speed-changing mechanism 8 is provided on the transmission shaft 3. Specifically, during the speed regulation of the dual-rotor motor, in order to achieve the superposition of the two-way torques, when the rotational speed of the first rotor 1 is less than that of the second rotor 2, it is necessary to accelerate through the speed-changing mechanism 8. When the rotational speed of the first rotor 1 is greater than that of the second rotor 2, it is necessary to decelerate through the speed-changing mechanism 8. Of course, the speed-changing mechanism 8 can also be provided on the first output shaft 11, especially between the first rotor 1 and the first transmission mechanism 3.

[0051] Further, a clutch 6 and a speed regulation mechanism 7 are also provided on the first output shaft 11 or the transmission shaft 3. Among them, in the second-way torque output, the speed regulation mechanism 7 and the speed-changing mechanism 8 are used to change the magnitude and direction of the second-way torque output.

[0052] In one embodiment, the clutch 6 and the speed regulation mechanism 7 are provided on the transmission shaft 3. Here, the clutch 6 is used to control the power output of the transmission shaft 3. For example, the transmission shaft 3 includes a first shaft section 31 and a second shaft section 32, and the speed-changing mechanism 8 is provided on the second shaft section 32. Among them, the first shaft section 31 and the second shaft section 32 are connected through the clutch 6, and the power is transmitted between the first shaft section 31 and the second shaft section 32 by the engagement or disengagement of the clutch 6.

[0053] The speed regulation mechanism 7 is provided, for example, on the second shaft section 32. Among them, the speed regulation mechanism 7 is provided between the speed-changing mechanism 8 and the clutch 6, and it is used to adjust the rotational speed transmitted to the second shaft section 32, and its speed ratio is i2.

[0054] Preferably, the transmission shaft 3 is provided on the surface of the housing 10 through, for example, a support bearing. In addition, the clutch 6, the speed regulation mechanism 7, and the speed-changing and reversing mechanism 8 are also provided on the housing 10.

[0055] In another embodiment, as Figures 5-8As shown, the speed-changing mechanism 8, the clutch 6, and the speed-regulating mechanism 7 can also be jointly arranged on the first output shaft 11. The speed-changing mechanism 8 is arranged between the brake 5 and the first transmission mechanism 4. The clutch 6 is arranged between the brake 5 and the speed-changing mechanism 8. The speed-regulating mechanism 7 is arranged between the speed-changing mechanism 8 and the first transmission mechanism 4.

[0056] By connecting the first output shaft 11 of the first rotor 1 to the transmission shaft 3, and controlling the working process of the first path torque output of the first rotor 1 and adjusting the second path torque output through the brake 5 and the clutch 6, the starting, speed regulation, rated speed operation, etc. of the double-rotor motor are controlled.

[0057] Furthermore, when the first transmission mechanism 4 and the second transmission mechanism 9 adopt the same type of transmission mechanism, the speed-changing mechanism 8 includes a reverse device. Specifically, when a pulley connection is adopted between the first rotor 1 and the transmission shaft 3, the first path torque output formed by the first rotor 1. When the transmission shaft 3 is connected to the second output shaft 21 of the second rotor 2 by a pulley, the two path torque outputs are in the reverse direction at this time. At this time, the reverse device can change the direction of the second path torque output to match the direction of the first path torque output. If the connection to the second rotor 2 is a gear set, the two path torque outputs are in the same direction at this time, and there is no need to set a reverse device.

[0058] It is also possible to determine whether to set a reverse device based on the specific type of the speed-changing mechanism 8. For example, for a transmission using a reduction gear method, the rotation directions of the input shaft and the output shaft of the transmission are sometimes the same and sometimes opposite, so it is determined whether to set a reverse device according to the situation.

[0059] As Figure 3 shown, the clutch 6, the speed-regulating mechanism 7, and the speed-changing mechanism 8 are arranged on the transmission shaft 3. Here, the first transmission mechanism 4 is a gear set, and the second transmission mechanism is a pulley structure. The speed-changing mechanism 8 here does not have a reverse device.

[0060] As Figure 3 shown, the clutch 6, the speed-regulating mechanism 7, and the speed-changing mechanism 8 are arranged on the transmission shaft 3. Here, the first transmission mechanism 4 is a gear set, and the second transmission mechanism is a pulley structure. The speed-changing mechanism 8 here does not have a reverse device.

[0061] As Figure 4As shown, the clutch 6, the speed regulating mechanism 7, and the speed changing mechanism 8 are arranged on the transmission shaft 3. Here, the first transmission mechanism 4 is a pulley, and the second transmission mechanism 9 is a gear set. Here, the speed changing mechanism 8 does not have a reverse device.

[0062] As Figure 5 shown, in another embodiment, the clutch 6, the speed regulating mechanism 7, and the speed changing mechanism 8 can also be arranged on the first output shaft 11. Here, both the first transmission mechanism 4 and the second transmission mechanism 9 are pulley structures. Here, the speed changing mechanism 8 has a reverse device.

[0063] As Figure 6 shown, in another embodiment, the clutch 6, the speed regulating mechanism 7, and the speed changing mechanism 8 can also be arranged on the first output shaft 11. Here, both the first transmission mechanism 4 and the second transmission mechanism 9 are gear sets. Here, the speed changing mechanism 8 has a reverse device.

[0064] As Figure 7 shown, in another embodiment, the clutch 6, the speed regulating mechanism 7, and the speed changing mechanism 8 can also be arranged on the first output shaft 11. Here, the first transmission mechanism 4 is a gear set, and the second transmission mechanism 9 is a pulley. Here, the speed changing mechanism 8 does not have a reverse device.

[0065] As Figure 8 shown, in another embodiment, the clutch 6, the speed regulating mechanism 7, and the speed changing mechanism 8 can also be arranged on the first output shaft 11. Here, the first transmission mechanism 4 is a pulley, and the second transmission mechanism 9 is a gear set. Here, the speed changing mechanism 8 does not have a reverse device.

[0066] In this embodiment, the first rotor in the dual-rotor motor is connected to the transmission shaft through a transmission mechanism, and the power output by the first rotor is applied to the output path of the second rotor. In order to make the first path of torque output be superimposed with the second path of torque output of the second rotor 2 after being output through the second transmission mechanism 9, it is required that the rotational speeds of the first rotor 1 and the second rotor 2 be equal. For this purpose, for example, the rotational speeds of the two rotors can be controlled to be equal to achieve torque superposition.

[0067] Specifically, in the first path torque output formed by the first rotor, the speed ratio is i, the speed ratio of the speed change mechanism 8 is i1, and the speed ratio of the speed regulation mechanism 7 is i2, where i = i1 * i2. Among them, the rated output speed of the dual-rotor motor is ne, the speed of the second rotor 2 is n2, and the speed of the first rotor 1 is n1. At the same time, ne = n1 + n2; here, n1 = i1 * i2 * n2;

[0068] From the above, after the first path torque output and the second path torque output are superimposed:

[0069] n2 = ne - n1 = ne - i1 * i2 * n2;

[0070] Therefore

[0071] Here, by changing the speed ratio i1 of the speed change mechanism 8 and / or the speed ratio i2 of the speed regulation mechanism 7, the output speed n2 of the dual-rotor motor can be changed. When the speed ratio i1 of the speed change mechanism 8 is a fixed value, by changing the speed ratio i2 of the speed regulation mechanism 7, the output speed n2 of the dual-rotor motor can be changed.

[0072] However, when the second output shaft 21 is operating stably at a speed of n2, if the speed ratio i2 of the speed regulation mechanism 7 is changed, the dual-rotor motor needs to re-distribute the speeds of the first rotor 1 and the second rotor 2 so that the first rotor 1 and the second rotor 2 operate at new speeds.

[0073] After the dual-rotor motor is powered on, the first rotor 1 and the second rotor 2 first output torques in opposite directions. In order to superimpose the output torque of the first rotor 1 and the output torque of the second rotor 2 on the second output shaft 21, the speeds and rotation directions of the two path torque outputs need to be the same. For this purpose, the speed of the first rotor 1 needs to be adjusted, and thus the speed regulation mechanism 7 needs to be adjusted to different speed ratios. In this way, the first path torque output formed by the first rotor 1 and the second path torque output formed by the second rotor 2 reach a new balance by automatically adjusting the speed value distribution of the two rotors, and a new speed value is obtained on the second output shaft 21.

[0074] Specifically, since the rotational speed of the rotating magnetic field in the air gap between the first rotor 1 and the second rotor 2 in the dual-rotor motor = the rotational speed of the rotating magnetic field generated by the electromagnetic coil - the speed of the first rotor, when the speed regulation mechanism 7 changes the speed of the first rotor 1, it also changes the rotational speed of the spatial rotating magnetic field acting on the second rotor 2, thereby changing the speed of the second rotor 2. At this time, new stable speeds can be generated at the two torque output nodes.

[0075] In specific implementation, PID control can be adopted, so that the control quantity can be calculated by using proportional, integral and differential according to the error of the system for control. Specifically, the controller gives the required output speed of the double-rotor motor, detects the speed signal of the first output shaft 11 as a feedback signal and inputs it into the controller, and after PID operation, outputs a control signal to the actuator of the speed regulation mechanism 7. Among them, when the detected speed is higher than the given speed, the output speed of the double-rotor motor is reduced through the actuator; then the output speed of the double-rotor motor is detected again. After calculation by the controller and the given speed, when the detected speed is lower than the given speed, the output speed of the double-rotor motor is increased through the actuator. When the output speed is equal to the given speed, the actuator is kept from operating. Through dynamic continuous detection, comparison and calculation, the output speed of the double-rotor motor is made infinitely close to the given speed.

[0076] Similarly, the output speed of the double-rotor motor can also be adjusted and controlled by detecting the speed of the second output shaft 21 as a feedback signal and inputting it into the controller.

[0077] The embodiments of the present disclosure have the advantages of small starting process current, can directly start with load under the full-voltage power frequency power supply, smooth starting process without impact, can be speed-regulated under the power frequency power supply, and full-speed operation.

[0078] The second embodiment of the present disclosure provides a starting control method for a double-rotor motor. The double-rotor motor here is the double-rotor motor in any implementation manner of the above first embodiment. The starting control method includes:

[0079] S101, after receiving the starting command, control the first rotor to be in an unloaded state;

[0080] S102, after energization, control the first rotor and the second rotor to rotate in opposite directions. When the sum of the speeds of the first rotor and the second rotor reaches a first predetermined value, brake the first rotor through a brake and make the speed of the second rotor gradually increase;

[0081] S103, when the speed of the second rotor reaches a second predetermined value, control the brake to stop outputting the braking torque, and at the same time control the clutch to engage so that the transmission shaft 3 is connected to the first output shaft 11 through the first transmission structure, so that the torque generated by the first rotor is superimposed on the second output shaft;

[0082] S104, after starting is completed, control the speed regulation mechanism to adjust the speed.

[0083] Specifically, it is determined whether the electric device needs to be started. After receiving the start command, the brake 5 and the clutch 6 are first disengaged to make the first rotor 1 in an unloaded state. After the dual-rotor motor is powered on, the first rotor 1 and the second rotor 2 rotate in opposite directions. At this time, the speeds of the first rotor 1 and the second rotor 2 are detected. When the sum of the speeds of the first rotor 1 and the second rotor 2 reaches a first predetermined value, a control current is applied to the brake 5, and the braking torque on the first rotor 1 is gradually increased through the brake 5, so that the speed of the first rotor 1 gradually decreases, and thus the speed of the second rotor 2 gradually increases.

[0084] When the speed of the second rotor 2 reaches a second predetermined value, the output of the braking torque of the brake 5 is controlled to stop, and at the same time, a control current is applied to the clutch 6 to control the clutch 6 to engage, so that the transmission shaft 3 is connected to the first output shaft 11 through the first transmission structure, and the first transmission mechanism superimposes the torque generated by the first rotor 1 on the second output shaft 21. Here, since the dual-rotor motor starts in an unloaded state and the first rotor 1 and the second rotor 2 are gradually loaded after reaching the set speed, the current during the starting process is small and the starting process is smooth without impact. After starting is completed, the speed of the dual-rotor motor can be adjusted by adjusting the speed regulating mechanism 7 through the controller. The speed regulation method here can be the digital PID algorithm.

[0085] The third embodiment of the present disclosure provides an electric device, which includes the dual-rotor motor and the load in any implementation manner of the above first embodiment. The characteristic of the electric device here is that it has a built-in soft start function and there are no power electronic devices in the main circuit, so no power harmonics harmful to the power grid will be generated.

[0086] Using the electric device of this embodiment, as Figure 9 shown, its working process is as follows:

[0087] It is determined whether the electric device needs to be started. After receiving the start command, the brake 5 and the clutch 6 are first disengaged to make the first rotor 1 in an unloaded state. After the dual-rotor motor is powered on, the first rotor 1 and the second rotor 2 rotate in opposite directions. At this time, the speeds of the first rotor 1 and the second rotor 2 are detected. When the sum of the speeds of the first rotor 1 and the second rotor 2 reaches a first predetermined value, a control current is applied to the brake 5, and the braking torque on the first rotor 1 is gradually increased through the brake 5, so that the speed of the first rotor 1 gradually decreases, and thus the speed of the second rotor 2 gradually increases.

[0088] When the rotational speed of the second rotor 2 reaches a second predetermined value, control the brake 5 to stop outputting braking torque, and at the same time, supply a control current to the clutch 6 to control the engagement of the clutch 6, so that the transmission shaft 3 is connected to the first output shaft 11 through the first transmission structure, and the first transmission mechanism superimposes the torque generated by the first rotor 1 onto the second output shaft 21.

[0089] Here, since the dual-rotor motor starts under no-load conditions and the first rotor 1 and the second rotor 2 are gradually loaded after reaching the set rotational speed, the current during the starting process is small, and the starting process is stable without impact. After starting is completed, the rotational speed of the dual-rotor motor can be adjusted by adjusting the speed regulating mechanism 7 through the controller. The speed regulation method here can be the digital PID algorithm.

[0090] Adopting the speed regulation algorithm structure diagram of this embodiment, as Figure 10 shown, its working process is as follows:

[0091] The digital PID controller outputs a given quantity N(t) to the digital-to-analog conversion module (D / A module) according to the difference E(t) between the set rotational speed S(t) and the detected rotational speed Y(t) of the second rotor 2. The D / A module outputs a current to the speed regulating mechanism 7, thereby realizing the speed regulation function of the dual-rotor motor.

[0092] In addition, when it is required that the dual-rotor motor in the electric device operates at the rated rotational speed, that is, when speed regulation is not required, then disconnect the clutch 6, control the brake 5 to completely brake the first rotor 1, and the dual-rotor motor operates at the rated rotational speed; when speed regulation is required again, disconnect the brake 5 and control the clutch 6 to engage. Here, the controller performs PID adjustment control on the given rotational speed of the speed regulating mechanism 7.

[0093] The embodiment of the present disclosure has the advantages of small current during the starting process, can directly start with a full-voltage power frequency power supply under load, has a stable starting process without impact, can be speed-regulated under the power frequency power supply, and can operate at full speed.

[0094] In addition, the features of the embodiments shown in the drawings of the embodiments of the present disclosure or various embodiments mentioned in this specification do not have to be understood as independent embodiments from each other. Instead, each feature described in one example of one embodiment can be combined with one or more other desired features from other embodiments, thereby generating other embodiments not described in words or with reference to the drawings.

[0095] The above-described embodiments are only used to illustrate the technical solutions of the embodiments of the present disclosure, and are not intended to limit them; although the embodiments of the present disclosure have been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure, and should all be included in the protection scope of the embodiments of the present disclosure.

Claims

1. A dual-rotor motor, comprising a housing, wherein a first rotor and a second rotor that rotate relative to each other are arranged inside the housing, the first rotor is sleeved outside the second rotor, a iron core and a coil for generating an electromagnetic field are arranged on the first rotor, the first rotor has a first output shaft, the second rotor has a second output shaft, the first output shaft and the second output shaft are coaxially arranged, and the second output shaft is used for connecting a load, and is characterized in that, It further includes a transmission shaft which is arranged parallel to the first output shaft and the second output shaft and is respectively connected thereto through a transmission structure, and a speed change mechanism is provided on the first output shaft or the transmission shaft.

2. The dual-rotor motor according to claim 1, characterized in that, The first output shaft is connected to the transmission shaft through a first transmission structure, the transmission shaft is connected to the second output shaft through a second transmission structure, and a brake is provided between the first rotor and the first transmission structure.

3. The dual-rotor motor according to claim 2, characterized in that, The first transmission mechanism or the second transmission mechanism is a pulley or a gear set.

4. The double-rotor motor according to claim 2, characterized in that, When the first transmission mechanism and the second transmission mechanism are of the same type, the speed change mechanism has a reverse device.

5. The double-rotor motor according to claim 2, wherein, A clutch and a speed regulation mechanism are provided on the first output shaft or the transmission shaft.

6. The dual-rotor motor according to claim 5, wherein, The speed change mechanism, the clutch and the speed regulation mechanism are provided on the first output shaft. The speed change mechanism is provided between the brake and the first transmission mechanism, the clutch is provided between the brake and the speed change mechanism, and the speed regulation mechanism is provided between the speed change mechanism and the first transmission mechanism.

7. The double-rotor motor according to claim 5, wherein, The speed change mechanism, the clutch and the speed regulation mechanism are provided on the transmission shaft. The speed change mechanism is provided between the first transmission mechanism and the second transmission mechanism, the clutch is provided between the first transmission mechanism and the speed change mechanism, and the speed regulation mechanism is provided between the speed change mechanism and the clutch.

8. The dual-rotor motor according to claim 7, characterized in that, The transmission shaft is arranged on the surface of the housing through a support bearing, and the clutch, the speed regulation mechanism and the speed change reverse mechanism are provided on the housing.

9. A starting control method for a dual-rotor motor, where the dual-rotor motor is the dual-rotor motor described in any one of claims 1-8, characterized in that, The starting control method includes: Controlling the first rotor to be in an unloaded state after receiving a starting command; After being powered on, controlling the first rotor and the second rotor to rotate in opposite directions. When the sum of the rotational speeds of the first rotor and the second rotor reaches a first predetermined value, braking the first rotor through the brake and gradually increasing the rotational speed of the second rotor; When the rotational speed of the second rotor reaches a second predetermined value, controlling the brake to stop outputting a braking torque, and at the same time controlling the clutch to engage to connect the transmission shaft to the first output shaft, so that the torque generated by the first rotor is superimposed on the second output shaft; Controlling the speed regulation mechanism to adjust the rotational speed after starting is completed.

10. An electric device, characterized in that, It includes the dual-rotor motor according to any one of claims 1-8.

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