Motor, motor control method, suspension system and vehicle

Abstract

The invention discloses a motor, a motor control method, a suspension system and a vehicle, and relates to the technical field of automobile suspensions. The motor comprises a stator, a rotor, a limiting part and a matching part; the stator comprises a casing and a magnet, the casing is provided with a channel with an opening at one end, and the magnet is arranged in the casing. The rotor comprises a coil support and a coil, the coil support is arranged in the channel and can move in the axial direction of the channel, and the coil is arranged on the coil support, matched with the magnet and drives the coil support to move in the axial direction of the channel when powered on. The matching part is arranged on the shell; the limiting part is arranged on the coil support, the limiting part and the matching part are sequentially arranged in the axial direction of the channel, and the maximum distance between the limiting part and the matching part is adjustable. According to the scheme, the maximum distance between the limiting part and the matching part can be adjusted according to requirements, so that the limit position of the coil bracket during extension can be adjusted, the limit displacement of the rotor can be flexibly adjusted, the adaptive capacity of the motor under different working conditions is improved, and meanwhile, the stability and the safety of the movement of the rotor are guaranteed.

Description

Technical Field

[0001] This invention relates to the field of automotive suspension technology, specifically to an electric motor, a motor control method, a suspension system, and a vehicle. Background Technology

[0002] With the development of automotive electrification and intelligence, active suspension has become a research hotspot. Its core lies in adjusting the suspension stiffness or damping in real time through electronically controlled actuators (such as solenoid valves, motors, etc.) to optimize vehicle dynamic performance.

[0003] In related technologies, voice coil motors are used as actuators in suspension systems, with the motor's mover and stator connected to the sprung and unsprung masses of the suspension system, respectively. However, when the mover reaches a set limit position, it is usually stopped by the motor housing. But because the maximum distance between the stopping part of the housing and the mover is fixed, the mover's limit position cannot be flexibly adjusted. Summary of the Invention

[0004] One objective of this invention is to provide a motor that solves the problem in the prior art where, when a voice coil motor is used as the actuator of a suspension system, the actuator is usually stopped by the housing after reaching a set limit position. However, since the maximum distance between the stopping part of the housing and the actuator is fixed, the limit position of the actuator cannot be flexibly adjusted. The second objective is to provide a motor control method. The third objective is to provide a suspension system. The fourth objective is to provide a vehicle.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] An electric motor, comprising:

[0007] A stator includes a housing and a magnet, the housing having a channel open at one end, and the magnet being disposed in the housing;

[0008] The moving element includes a coil support and a coil. The coil support is disposed within the channel and can move along the axial direction of the channel. The coil is disposed on the coil support and cooperates with the magnet, and drives the coil support to move along the axial direction of the channel when energized.

[0009] A limiting part is provided on the housing; and

[0010] A mating part is provided on the coil support and is arranged sequentially with the limiting part along the axial direction of the channel. When they approach each other, they can abut against each other to prevent the coil support from detaching from the opening and the housing. The maximum distance between the mating part and the limiting part is adjustable.

[0011] According to the above method, when the coil is energized, the limiting part moves synchronously along the axial direction of the channel along with the coil support. Through the cooperation between the limiting part and the mating part, the coil support of the mover can be stopped at its extreme position during extension, preventing the coil support from detaching from the stator through the channel opening. Furthermore, since the maximum distance between the limiting part and the mating part can be adjusted, the maximum distance between them can be adjusted as needed, thereby allowing for adjustment of the extreme position of the coil support during extension. This enables flexible adjustment of the mover's extreme displacement, improving the motor's adaptability under different operating conditions, while ensuring the stability and safety of the mover's movement.

[0012] Furthermore, the limiting part is connected to the end of the housing with the opening, and can move relative to the housing along the axial direction of the channel, and can maintain the position after the movement;

[0013] The mating part is connected to the coil bracket and is located on the side of the limiting part near the channel, and has a limit position that is blocked by the limiting part when it moves toward the limiting part along with the coil bracket.

[0014] According to the above methods, since the limiting part can be set outside the housing relative to the coil support, it is easy to adjust and improves convenience.

[0015] Furthermore, the housing has external threads on the outer side wall of the opening;

[0016] The limiting part includes a connecting cylinder and a cover. One end of the connecting cylinder is sleeved on the end of the housing with the opening and has a corresponding internal thread. The cover is connected to the end of the connecting cylinder away from the housing and has a clearance opening that communicates with the channel.

[0017] The mating part is located on the side of the cover near the housing and can be blocked by the cover.

[0018] Based on the above method, the connecting cylinder can move axially relative to the housing along the channel through the threaded connection, thereby allowing the maximum distance between the cover and the mating part to be adjusted. The structure is simple and the operation is convenient.

[0019] Furthermore, the coil support has a connecting section near the cover, the connecting section extending at least partially beyond the clearance opening during the movement of the coil support;

[0020] The mating part is connected to the connecting segment and is spaced apart from the end of the connecting segment that extends out of the clearance opening.

[0021] Using the methods described above, the connecting section of the coil bracket extends out of the channel to facilitate the connection of other components of the suspension system.

[0022] Furthermore, the mover also includes a linear bearing connected to the coil support and extending axially along the channel;

[0023] The stator also includes a central shaft, which is connected to the inner wall of the channel and extends axially along the channel, and is slidably inserted into the shaft hole of the linear bearing.

[0024] Based on the above methods, the coil support can be guided to move linearly by the cooperation of the central shaft and the linear bearing, avoiding radial displacement of the coil support along the housing and improving the stability and smoothness of the mover's movement.

[0025] Furthermore, the coil support is sleeved outside the central shaft and has an accommodating gap with the central shaft;

[0026] The magnet is located on the central axis and within the accommodating gap, and the coil is wound around the outside of the coil support.

[0027] Based on the above methods, an external magnet voice coil motor is formed, which makes the magnetic field distribution relatively uniform and the thrust linearity better.

[0028] Furthermore, the stator also includes a pressure plate connected to the central shaft and located at one end of the central shaft near the linear bearing, pressing against the magnet.

[0029] Using the above method, the magnet is placed between the pressure plate and the bottom wall of the channel to restrict the magnet's movement along the axial direction of the channel.

[0030] Furthermore, the outer side wall of the coil support is provided with at least two guide rings, the at least two guide rings are spaced apart along the axial direction of the channel, and a coil groove is formed between two adjacent guide rings. Each guide ring extends circumferentially along the coil support and is coaxial with the channel.

[0031] The coil is wound inside the coil slot.

[0032] Using the above method, the coil is placed in the coil slot between the two guide rings, thereby improving space utilization.

[0033] Furthermore, the guide ring near the limiting portion constitutes the mating portion.

[0034] Using the methods described above, no additional mating parts are needed, reducing the number of components and improving compactness.

[0035] Furthermore, at least one of the guide rings has a guide band on its outer side wall, and the guide band slides in contact with the inner wall of the channel.

[0036] By using the above methods, the friction between the guide ring and the inner wall of the channel is reduced, making the movement of the mover smoother and ensuring the centering of the mover.

[0037] Furthermore, the magnet includes at least two radial magnets and at least two axial magnets, the radial magnets and the axial magnets being arranged alternately along the axial direction of the channel, and the magnetic field lines of adjacent radial magnets being opposite in direction, and the magnetic field lines of adjacent axial magnets being opposite in direction;

[0038] The coils are provided in at least two sets, each corresponding to at least two radial magnets, and the winding directions of two adjacent coils are opposite.

[0039] The above methods effectively improved the magnetic field strength near the air gap, especially the magnetic field strength between the two coil sets.

[0040] Furthermore, the magnetic field lines located at the end of the channel and passing through the channel are reverse magnetic field lines, and the coil is configured to offset the reverse magnetic field lines.

[0041] By using the above methods, the coil is offset from the reverse magnetic field lines at the end of the channel, so as to avoid the mover being subjected to reverse electromagnetic force when it moves to the end of the channel, thus eliminating the end effect.

[0042] A motor control method, applied to any of the motors described above, comprising:

[0043] The mover of the motor is controlled to move at a speed of v1 during the time interval from 0 to T1, and at a speed of v2 during the time interval from T1 to T, and the mover is made to reach a set displacement at time T and the speed is reduced to zero;

[0044] in,

[0045]

[0046] In the formula, U is the power supply voltage, B is the magnetic induction intensity, l is the effective length of the motor coil, R is the resistance of the coil, t is the movement time of the mover, and m is the mass of the mover.

[0047] Based on the above methods, the motor's motion time can be minimized, energy can be saved, and the impact force caused by motor commutation can be greatly alleviated. At the same time, the working bandwidth can be increased. Combined with the characteristics of permanent magnet linear motors, it can have a good vibration reduction effect on road surface vibrations at low, medium, and high frequencies.

[0048] A suspension system comprising a motor as described in any of the above claims.

[0049] A vehicle comprising the suspension system described above.

[0050] The beneficial effects of this invention are:

[0051] (1) The maximum distance between the limiting part and the mating part can be adjusted according to the requirements, so that the limit position of the coil bracket can be adjusted when it is extended, so as to flexibly adjust the limit displacement of the mover, improve the adaptability of the motor under different working conditions, and at the same time ensure the stability and safety of the mover movement.

[0052] (2) It can minimize the motor movement time, save energy, and greatly alleviate the impact force brought about by motor commutation. At the same time, it can improve the working bandwidth. Combined with the characteristics of permanent magnet linear motor, it can have a good shock absorption effect on road vibrations in low frequency, medium frequency and high frequency. Attached Figure Description

[0053] Figure 1 This is a cross-sectional view of a motor (showing the coil) according to an embodiment of the present invention;

[0054] Figure 2 for Figure 1 Cross-sectional view of the middle stator and limiting part;

[0055] Figure 3 for Figure 1 Schematic diagram of the housing, central shaft, and coil support;

[0056] Figure 4 for Figure 3 Schematic diagram of the middle coil support;

[0057] Figure 5 for Figure 1 Schematic diagram of the middle housing, central shaft, and pressure plate;

[0058] Figure 6 for Figure 1 A schematic diagram of the frame of the electric motor, where the dashed lines represent the magnetic circuit;

[0059] Figure 7 for Figure 1 Waveform diagram of optimal voltage versus time for the motor;

[0060] Figure 8 for Figure 1 Waveform of optimal acceleration versus time for the electric motor;

[0061] Figure 9 for Figure 1 Waveform diagram of the optimal speed and time for the electric motor;

[0062] Figure 10 for Figure 1 Waveform diagram of the optimal displacement versus time for the electric motor.

[0063] Among them, 1-stator; 11-housing; 11a-channel; 12-magnet; 121-radial magnet; 122-axial magnet; 13-central shaft; 131-main body section; 132-guide section; 14-pressure plate; 2-moving element; 21-coil bracket; 21a-accommodating gap; 211-connecting section; 22-coil; 23-linear bearing; 24-guide ring; 24a-coil groove; 25-guide belt; 26-connecting piece; 3-limiting part; 31-connecting cylinder; 32-cover; 32a-clearance opening; 4-fitting part; 41-fitting ring. Detailed Implementation

[0064] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0065] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0066] Please see Figures 1 to 3 The present invention provides an electric motor, including a stator 1, a mover 2, a limiting part 3, and a mating part 4; the stator 1 includes a housing 11 and a magnet 12, the housing 11 having a channel 11a with one end open, and the magnet 12 disposed in the housing 11; the mover 2 includes a coil support 21 and a coil 22, the coil support 21 being disposed in the channel 11a and being movable along the axial direction of the channel 11a, the coil 22 being disposed in the coil support 21 and cooperating with the magnet 12, and driving the coil support 21 to move along the axial direction of the channel 11a when energized; the mating part 4 is disposed in the housing 11; the limiting part 3 is disposed in the coil support 21 and is arranged sequentially with the mating part 4 along the axial direction of the channel 11a, and can abut against each other when they approach each other to restrict the coil support 21 from detaching from the opening of the housing 11, the maximum distance between the limiting part 3 and the mating part 4 is adjustable.

[0067] In this design, when the coil 22 is energized, the limiting part 3 moves synchronously along the axial direction of the channel 11a along with the coil support 21. Through the cooperation of the limiting part 3 and the mating part 4, the coil support 21 of the mover 2 can be stopped at its extreme position during extension, preventing the coil support 21 from detaching from the stator 1 through the opening of the channel 11a. Furthermore, since the maximum distance between the limiting part 3 and the mating part 4 can be adjusted, the maximum distance between the limiting part 3 and the mating part 4 can be adjusted according to requirements, thereby allowing the extreme position of the coil support 21 during extension to flexibly adjust the extreme displacement of the mover 2, improve the adaptability of the motor under different operating conditions, and ensure the stability and safety of the mover 2's movement.

[0068] It should be noted that the adjustment of the maximum distance between the mating part 4 and the limiting part 3 can be achieved in the following ways. In one embodiment, the mating part 4 is configured to move along the axial direction of the coil support 21 and maintain its position after movement. In another embodiment, the limiting part 3 is configured to move along the axial direction of the housing 11 and maintain its position after movement. In yet another embodiment, the mating part 4 is configured to move along the axial direction of the coil support 21 and maintain its position after movement, while the limiting part 3 is configured to move along the axial direction of the housing 11 and maintain its position after movement.

[0069] In one embodiment, the limiting part 3 is connected to the end of the housing 11 with an opening, and can move axially relative to the housing 11 along the channel 11a, and can maintain the position after the movement; the mating part 4 is connected to the coil bracket.

[0070] 21, and located on the side of the limiting part 3 near the channel 11a, and having a limit position blocked by the limiting part 3 when moving toward the limiting part 3 following the coil bracket 21.

[0071] In this embodiment, by adjusting the position of the limiting part 3 on the housing 11, the maximum distance between the limiting part 3 and the mating part 4 is adjusted, thereby enabling the extreme position adjustment of the mover 2. Since the limiting part 3 can be disposed outside the housing 11 relative to the coil support 21, it is easy to adjust and improves convenience.

[0072] It should be noted that, in one embodiment, a plurality of pin holes are provided at intervals along the axial direction of the channel 11a on the outer wall of the housing 11, and a corresponding through hole is provided on the limiting part 3, so that the position of the limiting part 3 on the housing 11 can be adjusted by means of pins. In another embodiment, a plurality of slots are provided at intervals along the axial direction of the channel 11a on the outer wall of the housing 11, the slots extend radially along the channel 11a, and a corresponding retaining plate is provided on the limiting part 3, so that the position of the limiting part 3 on the housing 11 can be adjusted by means of the cooperation of the retaining plate and the slots.

[0073] In another embodiment, the housing 11 has an external thread on the outer side wall of the opening; the limiting part 3 includes a connecting cylinder 31 and a cover 32. One end of the connecting cylinder 31 is sleeved on the end of the housing 11 with the opening and has an internal thread. The cover 32 is connected to the end of the connecting cylinder 31 away from the housing 11 and has a clearance opening 32a that connects to the aforementioned channel 11a; the mating part 4 is located on the side of the cover 32 close to the housing 11 and can be blocked by the cover 32.

[0074] In this embodiment, the connecting cylinder 31 and the housing 11 are connected by a threaded fit, allowing the connecting cylinder 31 to move axially relative to the housing 11 along the channel 11a. This allows the maximum distance between the cover 32 and the mating part 4 to be adjusted, resulting in a simple structure and convenient operation. It should be noted that, to improve the stability of the connecting cylinder 31 on the housing 11, in one embodiment, the thread between the connecting cylinder 31 and the housing 11 is set as a self-locking thread. In another embodiment, a through hole can be provided on the connecting cylinder 31, and a pin hole can be provided axially along the channel 11a on the outer wall of the housing 11 for further positioning by a pin.

[0075] In one embodiment, the coil support 21 has a connecting section 211 near the cover 32, the connecting section 211 extending at least partially out of the clearance opening 32a during the movement of the coil support 21; the mating part 4 is connected to the connecting section 211 and spaced apart from the end of the connecting section 211 that extends out of the clearance opening 32a.

[0076] In this embodiment, the connecting section 211 of the coil bracket 21 extends out of the channel 11a to facilitate connection with other components of the suspension system. Specifically, in this solution, the connecting section 211 is connected to the axle through a high-stiffness elastic element, directly acting on the unsprung mass; the housing 11 is rigidly fixed to the vehicle body structure, forming a bidirectional control channel 11a for the sprung mass.

[0077] It should be noted that in this design, the base of the housing 11 is provided with fixing holes. Furthermore, a connector 26 is connected to the connecting section 211, the connector 26 is threadedly connected to the connecting section 211, and a connecting hole is provided on the side of the connector 26 away from the housing 11. In one embodiment, multiple connectors 26 are provided, and the diameter or position of the connecting holes of the multiple connectors 26 are different, and they can be selectively connected to the connecting section 211 to adapt to different vehicle models.

[0078] In one embodiment, please refer to Figure 4 and Figure 5 The mover 2 also includes a linear bearing 23, which is connected to the coil support 21 and extends axially along the channel 11a; the stator 1 also includes a central shaft 13, which is connected to the inner wall of the channel 11a and extends axially along the channel 11a, and is inserted into the shaft hole of the linear bearing 23.

[0079] In this embodiment, the central shaft 13 slides through the linear bearing 23 of the mover 2. When the coil support 21 moves axially relative to the housing 11 along the channel 11a, the cooperation between the central shaft 13 and the linear bearing 23 guides the coil support 21 to move linearly, preventing the coil support 21 from deviating radially along the housing 11 and improving the stability and smoothness of the mover 2's movement. It should be noted that the cylinder of the linear bearing 23 is fixed to the connecting section 211 by bolts, and the specific structure and principle of the linear bearing 23 are existing technologies and will not be described in detail here.

[0080] In addition, it should be noted that in this scheme, the central shaft 13 includes a main body section 131 and a guide section 132. The main body section 131 is connected to the bottom wall of the channel 11a, and the guide section 132 is connected to the end of the main body section 131 near the opening of the channel 11a and slides through the linear bearing 23. The outer diameter of the guide section 132 is smaller than the outer diameter of the main body section 131.

[0081] In one embodiment, the coil support 21 is sleeved outside the central shaft 13 and has a receiving gap 21a spaced apart from the central shaft 13; the magnet 12 is disposed on the central shaft 13 and located inside the receiving gap 21a, and the coil 22 is wound around the outside of the coil support 21.

[0082] In this embodiment, the magnet 12 is arranged in the accommodating gap 21a between the coil support 21 and the central shaft 13, and the coil 22 is placed outside the coil support 21 to form an external magnet voice coil motor, which makes the magnetic field distribution relatively uniform and the thrust linearity better.

[0083] In one embodiment, the stator 1 further includes a pressure plate 14, which is connected to the central shaft 13 and located at one end of the central shaft 13 near the linear bearing 23, and presses against the magnet 12.

[0084] In this embodiment, the magnet 12 is disposed between the pressure plate 14 and the bottom wall of the channel 11a to restrict the movement of the magnet 12 along the axial direction of the channel 11a and improve the installation stability of the magnet 12. Specifically, in this embodiment, the pressure plate 14 is sleeved on the outer periphery of the guide section 132 and fixedly connected to the central shaft 13, and is located at one end of the guide section 132 near the main body section 131.

[0085] In one embodiment, the outer wall of the coil support 21 is provided with at least two guide rings 24. The at least two guide rings 24 are spaced apart along the axial direction of the channel 11a and form a coil groove 24a between two adjacent guide rings 24. Each guide ring 24 extends circumferentially along the coil support 21 and is coaxial with the channel 11a. The coil 22 is wound in the coil groove 24a.

[0086] In this embodiment, a guide ring 24 is also provided between the coil support 21 and the inner wall of the channel 11a to guide the coil support 21 to move axially along the channel 11a, preventing the coil support 21 from shifting radially along the channel 11a and improving the stability of the coil support 21's movement. Simultaneously, the coil 22 is arranged in the coil groove 24a between the two guide rings 24, improving space utilization. It should be understood that the guide ring 24 is coaxially arranged with the central shaft 13.

[0087] In one embodiment, the guide ring 24 near the limiting part 3 constitutes the mating part 4.

[0088] In this embodiment, the guide ring 24 near the limiting part 3 is used as the mating part 4 to mate with the cover 32, eliminating the need for additional components, reducing parts, and improving compactness. It should be noted that in this solution, the guide ring 24, which is the mating part 4, is slidably disposed inside the connecting cylinder 31. For ease of description, the guide ring 24, which is the mating part 4, is defined as the mating ring 41. The outer diameter of the mating ring 41 is larger than the outer diameter of the housing 11, that is, when the mating movement is close to the outside of the housing 11, it can still be stopped by the side wall of the housing 11.

[0089] In one embodiment, at least one guide ring 24 has a guide band 25 on its outer side wall, and the guide band 25 slides in contact with the inner wall of the channel 11a.

[0090] In this embodiment, a guide band 25 is provided between the guide ring 24 and the inner wall of the channel 11a to reduce the friction between the guide ring 24 and the inner wall of the channel 11a, making the movement of the mover 2 smoother and ensuring the centering of the mover 2.

[0091] In one embodiment, the magnet 12 includes at least two radial magnets 121 and at least two axial magnets 122. The radial magnets 121 and the axial magnets 122 are arranged alternately along the axial direction of the channel 11a, and the magnetic field lines of adjacent radial magnets 121 are opposite in direction, and the magnetic field lines of adjacent axial magnets 122 are opposite in direction. At least two sets of coils 22 are provided, corresponding one-to-one with at least two radial magnets 121, and the winding directions of adjacent coils 22 are opposite.

[0092] In this embodiment, the magnet 12 includes a radial magnet 121 and an axial magnet 122 as described above, constituting...

[0093] The Halbach permanent magnet array uses parallel magnetized tile magnets, reducing costs. Compared to traditional permanent magnet arrays, the Halbach permanent magnet array has a significantly lower core saturation. Most magnetic field lines flow directly from the radially inward-radiating permanent magnets to the axially radiating permanent magnets to the left, with only a few flowing through the core. This reduces the core's magnetic reluctance and effectively increases the magnetic field strength near the air gap, especially between the two coil sets 22.

[0094] It should be noted that the average magnetic flux density of the air gap in the Halbach permanent magnet array type is greater than that in the traditional endless type. This means that within the same air gap size, the electromagnetic force experienced by the Halbach permanent magnet array type mover 2 is greater. Furthermore, during the initial and final stages of mover 2's movement, the magnetic flux density of the air gap containing mover 2 remains almost constant, effectively reducing vibrations caused by magnetic field inhomogeneity. Compared to the traditional model, this structure reduces inference fluctuations by 30% to 50%. Simultaneously, after co-simulation optimization of the motor, the optimized average magnetic field strength of the air gap increased from 0.316T to 0.407T, an increase of 28.8%, meaning the maximum damping force of the suspension increased by 28.8%.

[0095] In one embodiment, please refer to Figure 6 The magnetic field lines located at the end of channel 11a and passing through channel 11a are reverse magnetic field lines, and coil 22 is configured to offset the reverse magnetic field lines.

[0096] In this embodiment, the coil 22 is offset from the reverse magnetic field lines at the end of the channel 11a to prevent the mover 2 from being subjected to a reverse electromagnetic force when it moves to the end of the channel 11a, and to form a structure similar to... Figure 6 The magnetic circuits 1, 2, and 3 are shown from left to right. The reverse magnetic circuit of magnetic circuit 3 does not pass through coil 22. When a current in the opposite direction as shown is passed into coil 22, the mover 2 will only generate an electromagnetic force moving to the right, and will not form a magnetic circuit that hinders the movement of the mover 2. This avoids end-effects that impede the movement of the mover 2, and further prevents a sudden decrease in thrust of the motor at the end of the stroke, reducing thrust fluctuations in the mover 2.

[0097] It should be noted that, Figure 6 The rightmost magnetic circuit 3, pointing downwards, contains a reverse magnetic field line. When this field line passes through coil 22, it causes the mover 2 to move to the left by an electromagnetic force. In this case, coil 22 is positioned offset from this reverse magnetic field line.

[0098] This solution also provides a motor control method applied to the motor described above. One embodiment of the motor control method includes:

[0099] The motor's mover 2 moves at speed v1 during the time interval 0 to T1, and at speed v2 during the time interval T1 to T, so that the mover 2 reaches the set displacement at time T and its speed decreases to zero;

[0100] in,

[0101]

[0102] In the formula, U is the power supply voltage, B is the magnetic induction intensity, l is the effective length of the motor coil 22, R is the resistance of the coil 22, t is the motion time of the mover 2, and m is the mass of the mover 2.

[0103] In this embodiment, regarding the reciprocating motion characteristics of the motor, let T be the time it takes for the motor rotor 2 to reach the given displacement. The optimal control process is as follows: during the initial time interval 0 to T1, the rotor 2 accelerates; during the time interval T1 to T, the rotor 2 begins to decelerate, and its speed decreases to zero exactly when it reaches the given displacement. Using the mathematical model of the motor and the mechanical inertia and electromagnetic inertia formulas, the variation law of each parameter of the motor under the optimal control parameter conditions is calculated as follows: Figures 7-10 As shown. Controlling the motor in this way can minimize the motor's motion time, save energy, and greatly alleviate the impact force caused by motor commutation. At the same time, it can increase the operating bandwidth. Combined with the characteristics of permanent magnet linear motors, it can have a good vibration damping effect on road surface vibrations at low, medium, and high frequencies.

[0104] It should be noted that the dynamic characteristics of a voice coil motor are the changes in physical quantities such as motor output force, moving speed of mover 2, and current flowing through coil 22 over time during the movement of mover 2. The reason why these physical quantities have such a transition process is mainly because the motor has two kinds of inertia that influence each other: mechanical inertia and electromagnetic inertia. This makes each physical quantity have a continuous and gradual change process from one steady state to another, and it cannot produce abrupt changes.

[0105] Mechanical inertia affects a motor's acceleration, deceleration capabilities, oscillations, stability, and response time. It is typically quantified using the mechanical time constant, defined as the time required for the motor to accelerate to 63.2% of its standard no-load speed under rated excitation when no-load conditions are applied. This is expressed by the formula: T m =(mR) / (B) 2 l 2 ).

[0106] To improve the system's test bandwidth, the speed of the mover 2 needs to be increased, meaning the time for the mover 2 to travel back and forth under the given position should be as short as possible to achieve output overshoot-free operation. Regarding the reciprocating motion characteristics of the motor, let T be the time it takes for the mover 2 to reach the given displacement. In the initial time interval 0 to T1, the mover 2 accelerates; from T1 to T, the mover 2 begins to decelerate, and its speed decreases to zero exactly at the given displacement. The two parts are related as follows:

[0107] Acceleration phase (0 < t < T1): During time T1, the initial velocity of mover 2 is 0;

[0108] The velocity v1(t) during the motion process can be expressed as:

[0109] The acceleration a1(t) during this stage can be expressed as:

[0110] The displacement x1 within time T1 can be expressed as:

[0111] Among them, V m =U / Bl, which is the ideal no-load speed of the motor.

[0112] Deceleration phase of mover 2 (T1 < t < T): In the deceleration phase, the initial velocity is the same as the final velocity in the acceleration phase, and the velocity v2(t) during the deceleration process can be expressed as:

[0113]

[0114] The acceleration a2(t) during the deceleration phase can be expressed as:

[0115]

[0116] The displacement x2 during the time interval T1 to T can be expressed as:

[0117] It should be understood that T m =(mR) / (B) 2 l 2 ) and V m Substituting U / Bl into v1(t) and v2(t) yields:

[0118]

[0119] Therefore, under optimal control parameter conditions, the parameter variation law of the motor is as follows: Figures 7-10 As shown.

[0120] In addition, this solution also provides a suspension system, which includes the motor as described above.

[0121] In addition, a vehicle is provided, which includes the suspension system as described above.

[0122] It should be noted that this solution uses a 48V power distribution system, which draws less current at the same power output compared to a 12V power supply. This reduces the cross-sectional area of ​​the conductors and copper losses. The reduced cross-sectional area means an increase in the number of 22 turns in the coil, which in turn increases the maximum thrust of the motor. Because the response time of a permanent magnet linear motor is inversely proportional to the voltage, the 48V system can establish the magnetic field more quickly, shortening the electromechanical time constant and enabling a response speed of approximately 2ms.

[0123] This solution, leveraging the high power characteristics of 48V, achieves millisecond-level rapid response, 3-4 times faster than a 12V system. At the same power, its operating current is only 1 / 4 that of a 12V system, reducing copper losses by 75% and significantly lowering energy consumption. Utilizing a direct drive method, it eliminates the energy loss and mechanical delay of traditional motor gear transmissions. Combined with 48V's high-bandwidth PWM (Pulse Width Modulation) control, positioning accuracy can reach the micrometer level.

[0124] The above embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention.

Claims

1. An electric machine characterized in that, The application relates to a motor, comprising: a stator (1) comprising a casing (11) with an open channel (11a) and a magnet (12) arranged in the casing (11); a rotor (2) comprising a coil support (21) arranged in the channel (11a) and capable of moving along the axial direction of the channel (11a), and a coil (22) arranged in the coil support (21) and capable of driving the coil support (21) to move along the axial direction of the channel (11a) when energized; a limiting part (3) arranged in the casing (11); and a matching part (4) arranged in the coil support (21) and sequentially arranged with the limiting part (3) along the axial direction of the channel (11a), and capable of abutting against the limiting part (3) to limit the coil support (21) from escaping from the casing (11) through the opening when the coil support (21) moves close to the limiting part (3), and the maximum distance between the matching part (4) and the limiting part (3) is adjustable.

2. The electric machine of claim 1, wherein: The limiting part (3) is connected to the end of the casing (11) with the opening and is capable of moving along the axial direction of the channel (11a) relative to the casing (11) and is capable of maintaining the position after moving. The matching part (4) is connected to the coil support (21) and is located on the side of the limiting part (3) close to the channel (11a) and has a limit position stopped by the limiting part (3) when the coil support (21) moves towards the limiting part (3).

3. The electric machine of claim 2, wherein: The casing (11) is provided with external threads on the outer wall of the opening. The limiting part (3) comprises a connecting cylinder (31) and a cover (32), one end of the connecting cylinder (31) is sleeved on the end of the casing (11) with the opening and is provided with internal threads, and the cover (32) is connected to the end of the connecting cylinder (31) away from the casing (11) and has an avoiding opening (32a) communicating with the channel (11a). The matching part (4) is located on the side of the cover (32) close to the casing (11) and is stopped by the cover (32).

4. The electric machine of claim 3, wherein: The coil support (21) has a connecting section (211) close to the cover (32), and the connecting section (211) at least partially extends out of the avoiding opening (32a) in the moving stroke of the coil support (21). The matching part (4) is connected to the connecting section (211) and is arranged at a distance from the end of the connecting section (211) extending out of the avoiding opening (32a).

5. The electric machine of any of claims 1-4, characterized by: The rotor (2) further comprises a linear bearing (23) connected to the coil support (21) and extending along the axial direction of the channel (11a). The stator (1) further comprises a central shaft (13) connected to the inner wall of the channel (11a) and extending along the axial direction of the channel (11a) and slidingly arranged in the shaft hole of the linear bearing (23).

6. The electric machine of claim 5, wherein: The coil support (21) is sleeved on the outside of the central shaft (13) and is spaced from the central shaft (13) to form an accommodation gap (21a); The magnet (12) is arranged on the central shaft (13) and located in the accommodation gap (21a), and the coil (22) is arranged on the outside of the coil support (21).

7. The electric machine of claim 6, wherein: The stator (1) further comprises a pressing plate (14) connected to the central shaft (13) and located at one end of the central shaft (13) close to the linear bearing (23) and pressing against the magnet (12).

8. The electric machine of any of claims 1-4, wherein: The outer wall of the coil support (21) is provided with at least two guide rings (24), and the at least two guide rings (24) are arranged in the axial direction of the channel (11a) and form a coil slot (24a) between adjacent two guide rings (24), and each guide ring (24) extends in the circumferential direction of the coil support (21) and is coaxial with the channel (11a). The coil (22) is arranged in the coil slot (24a).

9. The electric machine of claim 8, wherein: The guide ring (24) close to the limiting portion (3) constitutes the matching portion (4).

10. The electric machine of claim 8, wherein: The outer wall of at least one guide ring (24) is provided with a guide belt (25) in sliding contact with the inner wall of the channel (11a).

11. The electric machine of claim 1, wherein: The magnet (12) comprises at least two radial magnets (121) and at least two axial magnets (122), the radial magnets (121) and the axial magnets (122) are arranged alternately in the axial direction of the channel (11a), and the magnetic induction lines of adjacent radial magnets (121) are opposite, and the magnetic induction lines of adjacent axial magnets (122) are opposite. The coil (22) is provided with at least two groups, and each group corresponds to at least two radial magnets (121), and the winding directions of adjacent two coils (22) are opposite.

12. The electric machine of claim 11, wherein: The magnetic induction lines at the end of the channel (11a) via the channel (11a) are reverse magnetic induction lines, and the coil (22) is arranged to stagger the reverse magnetic induction lines.

13. A method of controlling an electric machine according to any one of claims 1 to 12, characterized in that Comprising: The mover (2) of the motor is controlled to move at a speed v1 within 0-T1 time, and to move at a speed v2 within T1-T time, and the mover (2) reaches a set displacement at T time and the speed is reduced to zero; wherein, In the formula, U is the power supply voltage, B is the magnetic induction intensity, l is the effective length of the coil (22) of the motor, R is the resistance of the coil (22), t is the movement time of the mover (2), and m is the mass of the mover (2).

14. A suspension system characterized by: The suspension system comprises the motor according to any one of claims 1 to 12.

15. A vehicle characterized by: The vehicle comprises the suspension system according to claim 14. The vehicle comprises the suspension system according to claim 14.

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