A two-degree-of-freedom motor of switched reluctance rotation driven by a linear motor with opposite permanent magnets

Abstract

The application discloses a kind of opposing permanent magnet linear drive switched reluctance rotation's two-degree-of-freedom motor, comprising: fixedly arranged in the stator assembly of base, including stator core, stator permanent magnet, rotating operation winding and linear operation winding;With non-magnetic shaft fixed connection's rotor assembly, including rotor core and the rotor permanent magnet being set on rotor core;Stator permanent magnet and rotor permanent magnet form double-sided permanent magnetic bias magnetic field, linear operation winding is energized and interacts with double-sided permanent magnetic bias magnetic field to generate axial electromagnetic thrust, drive rotor assembly linear motion along the axial direction;Stator core has multiple stator salient poles, rotor core has multiple rotor salient poles, stator salient pole and rotor salient pole constitute switched reluctance magnetic circuit, rotating operation winding is wound on stator salient pole, and it is sequentially energized to drive rotor assembly rotation motion around axis according to excitation sequence.The application realizes the effect of compact structure, high thrust density, high reliability, control simplification.

Description

Technical Field

[0001] This application relates to the field of permanent magnet motor technology, and more specifically, to a two-degree-of-freedom motor that uses opposed permanent magnet linear drive to rotate switched reluctance. Background Technology

[0002] The need for combined linear and rotary motion output is widespread in fields such as industrial automation, intelligent equipment, robot joints, medical devices, and aerospace electromechanical actuation systems. As equipment evolves towards integration, lightweighting, and high dynamics, the demand for two-degree-of-freedom drive units capable of simultaneously outputting linear and rotary motion is becoming increasingly urgent. Traditional solutions typically employ separate linear and rotary motors, using mechanical structures to output their motion to the same actuator, or using a rotary motor in conjunction with transmission mechanisms such as lead screws, racks and pinions, or crank-connecting rods to achieve motion conversion.

[0003] In the existing technology, there are two main conventional approaches to achieve linear and rotary combined motion: one is to arrange the linear motor and rotary motor in series in the structure, with the two sharing the same output shaft, and achieve independent or coordinated output of linear and rotary motion by controlling them separately; the other is to add an electromagnetic clutch, mechanical switching or special magnetic circuit design to the single motor structure, so that the motor can output linear or rotary motion in different working modes.

[0004] However, the aforementioned existing technologies still have the following technical problems. First, the separate configuration or series arrangement of linear and rotary motors significantly increases the overall axial length and volume, resulting in high structural redundancy and low power density, making it difficult to meet the needs of compact application scenarios. Second, in existing integrated two-degree-of-freedom motor solutions, the linear drive side often adopts a single-sided permanent magnet structure or a purely electrically excited structure, which does not fully utilize the air gap magnetic flux density and results in low output thrust per unit volume, making it difficult to meet the requirements of high thrust and high dynamic reciprocating drive. Third, if a permanent magnet synchronous structure is used on the rotary drive side, there is a risk of permanent magnet demagnetization under complex operating conditions such as high temperature and strong impact, which limits the reliability of the system. Fourth, existing solutions often use multi-phase drive structures on the linear side, which increases the topology complexity and control difficulty of the power converter, which is not conducive to system simplification and cost control. Summary of the Invention

[0005] To address at least one defect or improvement requirement in the prior art, this invention provides a two-degree-of-freedom motor with opposed permanent magnet linear drive and switched reluctance rotation, which solves the problems in the prior art such as structural redundancy leading to large size and low power density, insufficient thrust density on the linear side, risk of demagnetization on the rotating side leading to insufficient reliability, and complex control and high cost due to multi-phase drive on the linear side.

[0006] To achieve the above objectives, according to a first aspect of the present invention, a two-degree-of-freedom motor with opposed permanent magnet linear drive and switched reluctance rotation is provided, comprising: a frame, a non-magnetic shaft, a stator assembly, and a mover assembly;

[0007] The stator assembly is fixedly installed inside the frame and is used for rotary drive and linear drive. It includes a stator core, a stator permanent magnet, a rotary winding and a linear winding.

[0008] The mover assembly is fixedly connected to the non-magnetic shaft and moves axially and rotates about the axis relative to the stator assembly for rotary drive and linear drive, including a mover core and a mover permanent magnet disposed on the mover core;

[0009] The stator permanent magnet and the mover permanent magnet are positioned opposite each other on both sides of the straight air gap to form a double-sided permanent magnet bias magnetic field. After the straight running winding is energized, it interacts with the double-sided permanent magnet bias magnetic field to generate an axial electromagnetic thrust, which drives the mover assembly to move in a straight line along the axial direction.

[0010] The stator core has multiple stator salient poles arranged along the circumference, and the mover core has multiple rotor salient poles arranged along the circumference. The stator salient poles and rotor salient poles are arranged opposite each other on both sides of the rotating air gap to form a switched reluctance magnetic circuit. The rotating winding is wound on the stator salient poles and is energized in sequence according to the excitation sequence to generate electromagnetic torque, which drives the mover assembly to rotate around the axis.

[0011] In one possible implementation, the stator core is divided into multiple linear drive units along the axial direction, and each linear drive unit includes linear teeth and stator permanent magnets disposed between adjacent linear teeth;

[0012] The stator permanent magnets are alternately magnetized along the axial direction, and the magnetization directions of adjacent stator permanent magnets are opposite, so that the magnetic flux density of the straight air gap is a periodic magnetic field with alternating N and S poles along the axial direction.

[0013] The linear running winding is a single-phase concentrated winding, wound on the linear tooth section. The linear running windings on each linear tooth section form a single-phase winding as a whole with the same winding direction and connection method.

[0014] In one possible implementation, the mover core has a segmented structure along the axial direction, including multiple mover core segments, and a mover permanent magnet is provided between adjacent mover core segments;

[0015] The moving permanent magnet is magnetized radially, and the magnetization directions of adjacent moving permanent magnets are opposite, so that the moving assembly has a structure in which the moving iron core segment and the moving permanent magnet are alternately arranged along the axial direction;

[0016] The stator permanent magnet and the mover permanent magnet are arranged along the axial direction with the same pole pitch, so that the magnetic field generated by the stator permanent magnet and the magnetic field generated by the mover permanent magnet are superimposed in the straight air gap, forming a double-sided opposed permanent magnet bias magnetic field distribution.

[0017] In one possible implementation, the rotating winding is a multi-phase concentrated winding, with each phase winding wound on several stator salient poles, and the phase windings are arranged in a predetermined phase sequence in the circumferential direction.

[0018] The rotating winding has multiple phases and is independently powered by a switched reluctance drive circuit. Each phase winding is turned on and off sequentially according to the rotor position detection signal, generating a stepping electromagnetic torque to drive the rotor assembly to rotate continuously.

[0019] In one possible implementation, the energizing sequence, conduction angle, and turn-off angle of each phase of the rotating winding are adjusted according to the speed and load requirements to control the rotating output torque and speed.

[0020] The linear winding is powered by a full-bridge or half-bridge power conversion circuit. The direction of the axial electromagnetic thrust is switched by changing the direction of the current, and the thrust magnitude is controlled by adjusting the current amplitude.

[0021] In one possible implementation, elastic support structures may be selectively provided between the two ends of the non-magnetic shaft and the base. The elastic support structure includes a mechanical spring, one end of which is connected to the end of the non-magnetic shaft and the other end of which is connected to the base, providing axial restoring force to the mover assembly.

[0022] Mechanical springs are symmetrically arranged at both ends of the non-magnetic shaft, so that the mover assembly forms a single-degree-of-freedom oscillating system under the combined action of axial electromagnetic thrust and spring restoring force.

[0023] In one possible implementation, the elastic support structure further includes axial limiting members, which are disposed at both ends of the stroke of the moving part assembly to limit the maximum axial displacement of the moving part assembly.

[0024] The stiffness of the mechanical spring is matched according to the equivalent mass of the mover assembly and the target oscillation frequency.

[0025] In one possible implementation, both the stator core and the mover core are made of magnetically conductive materials stacked together, while the non-magnetically conductive shaft is made of non-magnetically conductive metal or non-metallic composite material.

[0026] The stator permanent magnet and the mover permanent magnet are made of permanent magnet material and are fixed in the corresponding iron core slots or on the surface.

[0027] In one possible implementation, the linear running winding and the rotary running winding are in the form of concentrated windings, with the winding ends located at both axial ends of the stator core.

[0028] A bearing is provided between the stator assembly and the mover assembly to support the mover assembly and reduce motion friction.

[0029] According to a second aspect of the present invention, a control method for a two-degree-of-freedom motor with opposed permanent magnet linear drive and switched reluctance rotation is also provided. The two-degree-of-freedom motor with opposed permanent magnet linear drive and switched reluctance rotation based on any of the above possible implementations includes a linear drive control mode and a rotation drive control mode.

[0030] The linear drive control mode includes: passing DC or pulse current into the linear running winding, so that the armature magnetic field generated by the linear running winding interacts with the bilateral permanent magnet bias magnetic field formed by the stator permanent magnet and the mover permanent magnet, thereby generating axial electromagnetic thrust; the thrust direction is switched by changing the current direction, and the thrust magnitude is adjusted by adjusting the current amplitude.

[0031] The rotary drive control mode includes: detecting the rotor position, energizing each phase of the rotating winding in a predetermined excitation sequence according to the rotor position signal, so that an electromagnetic attraction torque is formed between the stator salient pole and the rotor salient pole, driving the mover assembly to rotate continuously; and adjusting the conduction angle, turn-off angle and current amplitude of each phase winding to achieve the adjustment of the rotary output torque and speed.

[0032] The linear drive control mode and the rotary drive control mode can be executed independently or simultaneously to achieve two degrees of freedom output of linear motion, rotary motion or linear-rotation composite motion.

[0033] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects:

[0034] This invention provides a two-degree-of-freedom motor with opposed permanent magnet linear drive and switched reluctance rotation. It utilizes the same stator and mover assembly for both rotary and linear drive, allowing linear and rotary motion to share the same electromagnetic structure. This eliminates the need for separate linear and rotary motor units, avoiding the structural redundancy caused by connecting or stacking two motors in traditional solutions. It also shortens the overall axial length and reduces the number of components. On the linear drive side, stator and mover permanent magnets are opposed on both sides of the linear air gap to form a double-sided permanent magnet bias magnetic field. This double-sided permanent magnet arrangement ensures that permanent magnets are present on both sides of the air gap, jointly providing excitation flux. Compared to single-sided permanent magnet or purely electric excitation structures, this results in higher air gap magnetic density, more uniform flux distribution, and improved magnetic circuit utilization, thereby generating greater axial electromagnetic thrust within the same volume. On the rotating drive side, multiple stator salient poles are arranged along the circumference of the stator core, and multiple rotor salient poles are arranged along the circumference of the rotor core. These two types of poles are positioned opposite each other on both sides of the rotating air gap to form a switched reluctance magnetic circuit. The rotating running winding is wound on the stator salient poles and energized sequentially according to the excitation sequence to generate electromagnetic torque, eliminating the risk of permanent magnet demagnetization under complex operating conditions such as high temperature and strong impact. The linear running winding can adopt a single-phase winding structure, achieving thrust direction switching simply by changing the current direction, and thrust magnitude control by adjusting the current amplitude. Single-phase drive significantly simplifies the power converter topology and reduces the hardware cost and control algorithm complexity of the control system. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the two-degree-of-freedom motor with opposed permanent magnet linear drive and switched reluctance rotation provided by the present invention.

[0037] Figure 2 This is a schematic cross-sectional structure diagram of an embodiment of the two-degree-of-freedom motor with opposed permanent magnet linear drive and switched reluctance rotation provided by the present invention under rotating operation conditions.

[0038] Figure 3 This is a schematic diagram of an embodiment of the linear drive stator slots and windings of a two-degree-of-freedom motor with opposed permanent magnet linear drive and switched reluctance rotation provided by the present invention.

[0039] Figure 4 This is a schematic diagram of the segmented structure of the linear drive mover along the axial direction of an embodiment of the two-degree-of-freedom motor with opposed permanent magnet linear drive and switched reluctance rotation provided by the present invention.

[0040] Figure 5 This is a schematic diagram illustrating the working principle of one embodiment of the two-degree-of-freedom motor with opposed permanent magnet linear drive and switched reluctance rotation provided by the present invention under linear operation conditions.

[0041] Figure 6 This is a schematic diagram of an embodiment of the opposed permanent magnet linear drive switched reluctance rotation two-degree-of-freedom motor provided by the present invention, which needs to be reused for linear reciprocating resonant operation. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0043] The terms "first," "second," "third," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0044] In a specific embodiment of the present invention, a two-degree-of-freedom motor with opposed permanent magnet linear drive and switched reluctance rotation is disclosed, comprising: a frame, a non-magnetic shaft 1, a stator assembly and a mover assembly;

[0045] The stator assembly is fixedly installed in the frame and is used for rotary drive and linear drive. It includes stator core 7, stator permanent magnet 3, rotary running winding 2 and linear running winding 4.

[0046] The mover assembly is fixedly connected to the non-magnetic shaft 1, and moves axially and rotates about the axis relative to the stator assembly for rotary drive and linear drive, including the mover core 5 and the mover permanent magnet 6 disposed on the mover core 5;

[0047] The stator permanent magnet 3 and the mover permanent magnet 6 are positioned opposite each other on both sides of the straight air gap to form a double-sided permanent magnet bias magnetic field. After the straight running winding 4 is energized, it interacts with the double-sided permanent magnet bias magnetic field to generate an axial electromagnetic thrust, which drives the mover assembly to move in a straight line along the axial direction.

[0048] The stator core 7 has multiple stator salient poles arranged along the circumference, and the mover core 5 has multiple rotor salient poles arranged along the circumference. The stator salient poles and rotor salient poles are arranged opposite each other on both sides of the rotating air gap to form a switched reluctance magnetic circuit. The rotating running winding 2 is wound on the stator salient poles and is energized in sequence according to the excitation sequence to generate electromagnetic torque, driving the mover assembly to rotate around the axis.

[0049] Example 1: Operation as a rotating electric motor

[0050] Please see Figure 1 , Figure 1 Please refer to the overall structural schematic diagram of an embodiment of the two-degree-of-freedom motor with opposed permanent magnet linear drive and switched reluctance rotation provided by the present invention. Figure 2 , Figure 2 This is a schematic cross-sectional view of an embodiment of the two-degree-of-freedom motor with opposed permanent magnet linear drive and switched reluctance rotation provided by the present invention under rotating operation conditions, as shown below. Figure 1 and Figure 2 As shown, the stator assembly is fixed inside the frame and coaxially arranged with the non-magnetic shaft 1. The stator core 7 forms several stator salient poles along the circumferential direction. A concentrated rotating operating winding 2 is wound on each stator salient pole. The rotating operating winding 2 is a multi-phase winding, and its number of phases can be set according to application requirements, such as three-phase, four-phase or more phases, to make trade-offs between torque density, torque ripple, control complexity and fault tolerance. The mover assembly is located inside the stator assembly and is fixedly connected to the non-magnetic shaft 1. The mover core 5 forms several rotor salient poles along the circumferential direction, which, opposite to the stator salient poles, form a switched reluctance magnetic circuit. In this rotating operation mode, the mover core 5 does not have a rotating winding or a rotating permanent magnet, making the mover structure simpler and avoiding the risk of permanent magnet demagnetization. It is suitable for high temperature, strong impact or complex environment conditions. Furthermore, the rotating operating winding 2 adopts a concentrated winding form, which can shorten the end length, increase the slot fill factor and reduce copper loss, while facilitating manufacturing, assembly and insulation treatment.

[0051] During operation, the switched reluctance drive circuit sequentially energizes each phase of the rotating winding 2 according to a predetermined excitation sequence, causing magnetic flux to be generated at the corresponding stator salient poles and forming an electromagnetic attraction torque between the stator and rotor salient poles, driving the rotor salient poles to align with the position of minimum magnetic reluctance. When the rotor rotates to the set commutation position, the drive circuit turns off the current phase and energizes the next phase, achieving continuous commutation excitation, thereby generating a continuous electromagnetic torque output on the mover assembly. By adjusting the conduction angle, turn-off angle, and phase current of each phase, the speed and torque can be adjusted, and torque pulsation and noise vibration can be reduced within a certain range. Since the mover assembly is fixedly connected to the non-magnetic shaft 1, the non-magnetic shaft 1 constitutes a power output shaft, and rotational mechanical energy can be directly output to the external load from the non-magnetic shaft 1.

[0052] Compared with existing technologies, this embodiment provides a two-degree-of-freedom motor with opposed permanent magnet linear drive and switched reluctance rotation. It uses the same set of stator and mover assemblies for both rotary and linear drive, allowing linear and rotary motion to share the same electromagnetic structure. This eliminates the need for separate linear and rotary motor units, avoiding structural redundancy caused by the series connection or superposition of two motors in traditional solutions. It also shortens the overall axial length and reduces the number of components. On the linear drive side, stator permanent magnets 3 and mover permanent magnets 6 are opposed on both sides of the linear air gap to form a double-sided permanent magnet bias magnetic field. This double-sided permanent magnet opposing layout ensures that permanent magnets are present on both sides of the air gap, jointly providing excitation flux. Compared to single-sided permanent magnet or purely electric excitation structures, this results in higher air gap magnetic density, more uniform flux distribution, and improved magnetic circuit utilization, thereby generating greater axial electromagnetic thrust within the same volume. On the rotating drive side, the stator core 7 has multiple stator salient poles arranged circumferentially, and the rotor core 5 has multiple rotor salient poles arranged circumferentially. These two components are positioned opposite each other on both sides of the rotating air gap to form a switched reluctance magnetic circuit. The rotating running winding 2 is wound on the stator salient poles and energized sequentially according to the excitation sequence to generate electromagnetic torque, eliminating the risk of permanent magnet demagnetization under complex operating conditions such as high temperature and strong impact. The linear running winding 4 can adopt a single-phase winding structure, achieving thrust direction switching only by changing the current direction, and thrust magnitude control by adjusting the current amplitude. Single-phase drive significantly simplifies the power converter topology and reduces the hardware cost and control algorithm complexity of the control system.

[0053] In some embodiments of the present invention, the stator core 7 is divided into multiple linear drive units along the axial direction, and each linear drive unit includes a linear tooth and a stator permanent magnet 3 disposed between adjacent linear teeth;

[0054] The stator permanent magnets 3 are alternately magnetized along the axial direction, and the magnetization directions of adjacent stator permanent magnets 3 are opposite, so that the magnetic flux density of the straight air gap is a periodic magnetic field with alternating N and S poles along the axial direction.

[0055] The linear running winding 4 is a single-phase concentrated winding, wound on the linear tooth section. The linear running windings 4 on each linear tooth section form a single-phase winding as a whole with the same winding direction and connection method.

[0056] In some embodiments of the present invention, the mover core 5 has a segmented structure along the axial direction, including multiple mover core 5 segments, and a mover permanent magnet 6 is provided between adjacent mover core 5 segments;

[0057] The moving permanent magnet 6 is magnetized radially, and the magnetization directions of adjacent moving permanent magnets 6 are opposite, so that the moving assembly has an alternating structure of moving iron core 5 segments and moving permanent magnets 6 along the axial direction;

[0058] The stator permanent magnet 3 and the mover permanent magnet 6 are arranged along the axial direction with the same pole pitch, so that the magnetic field generated by the stator permanent magnet 3 and the magnetic field generated by the mover permanent magnet 6 are superimposed in the straight air gap, forming a double-sided opposed permanent magnet bias magnetic field distribution.

[0059] In some embodiments of the present invention, the rotating running winding 2 is a multi-phase concentrated winding, with each phase winding wound on several stator salient poles, and each phase winding arranged in a predetermined phase sequence in the circumferential direction.

[0060] The rotating winding 2 has multiple phases and is independently powered by a switched reluctance drive circuit. Each phase winding is turned on and off sequentially according to the rotor position detection signal, generating a step-type electromagnetic torque to drive the rotor assembly to rotate continuously.

[0061] In some embodiments of the present invention, the energizing sequence, conduction angle and turn-off angle of each phase of the rotating winding 2 are adjusted according to the rotation speed and load requirements to achieve control of the rotation output torque and rotation speed;

[0062] The linear winding 4 is powered by a full-bridge or half-bridge power conversion circuit. The direction of the axial electromagnetic thrust is switched by changing the direction of the current, and the thrust magnitude is controlled by adjusting the current amplitude.

[0063] In some embodiments of the present invention, elastic support structures may be selectively provided between the two axial ends of the non-magnetic shaft 1 and the base. The elastic support structure includes a mechanical spring 8, one end of which is connected to the end of the non-magnetic shaft 1 and the other end is connected to the base, providing axial restoring force to the mover assembly.

[0064] Mechanical springs 8 are symmetrically arranged at both ends of the non-magnetic shaft 1, so that the mover assembly forms a single-degree-of-freedom oscillation system under the combined action of axial electromagnetic thrust and spring restoring force.

[0065] In some embodiments of the present invention, the elastic support structure further includes an axial limiting member disposed at both ends of the stroke of the moving part assembly to limit the maximum axial displacement of the moving part assembly.

[0066] The stiffness of the mechanical spring 8 is matched according to the equivalent mass of the mover assembly and the target oscillation frequency.

[0067] In some embodiments of the present invention, the stator core 7 and the mover core 5 are both made of magnetically conductive materials stacked together, and the non-magnetically conductive shaft 1 is made of non-magnetically conductive metal material or non-metallic composite material.

[0068] The stator permanent magnet 3 and the mover permanent magnet 6 are made of permanent magnet material and are fixed in the corresponding iron core slots or on the surface.

[0069] In some embodiments of the present invention, the linear running winding 4 and the rotary running winding 2 adopt a concentrated winding form, with the winding ends located at both axial ends of the stator core 7.

[0070] A bearing is provided between the stator assembly and the mover assembly to support the mover assembly and reduce motion friction.

[0071] Example 2: Operation as a linear synchronous motor, please refer to... Figure 3 , Figure 3 This is a schematic diagram of an embodiment of the linear drive stator slots and windings of a two-degree-of-freedom motor with opposed permanent magnet linear drive and switched reluctance rotation provided by the present invention. Please refer to [the original text]. Figure 4 , Figure 4 This is a schematic diagram of the segmented structure along the axial direction of an embodiment of the linear drive mover of a two-degree-of-freedom motor with opposed permanent magnet linear drive and switched reluctance rotation provided by the present invention, as shown below. Figure 1 , Figure 3 and Figure 4 As shown, the linear drive section is arranged axially, and the stator assembly is fixed inside the frame (not shown in the figure) and coaxially arranged with the non-magnetic shaft 1. The stator side is provided with a stator core 7, stator permanent magnets 3, and linear running windings 4; the mover side is provided with a mover core 5 and mover permanent magnets 6. The stator permanent magnets 3 and mover permanent magnets 6 are positioned opposite each other on both sides of the linear air gap to form a double-sided permanent magnet bias magnetic field, resulting in a high fundamental magnetic flux density and good magnetic circuit utilization within the air gap. This improves the thrust per unit volume and facilitates a compact overall design. Preferably, the stator permanent magnets 3 are arranged alternately along the axial direction with alternating pole pitches and are alternately magnetized along the axial direction; the mover permanent magnets 6 are arranged alternately along the axial direction with alternating pole pitches and are alternately magnetized radially. This results in a periodic distribution of the linear air gap magnetic flux density along the axial direction and the formation of a regular magnetic field wave within the mover's stroke range, thereby improving the continuity and consistency of thrust output and reducing the impact of end effects on thrust.

[0072] like Figure 4 As shown, the mover assembly has a segmented structure along the axial direction. A permanent magnet 6 is placed between adjacent mover core segments 5, resulting in an alternating arrangement of mover core 5-permanent magnet 6-motor core 5 along the axial direction. This structure provides an effective magnetic channel and enhances electromagnetic coupling through the core segments, while providing a stable bias flux through the permanent magnet segments. This makes the air gap magnetic field more complete and uniform, thus reducing the adverse effects of linear positioning force and thrust pulsation while ensuring thrust density, and facilitating modular expansion for longer strokes. The linear running winding 4 is a single-phase concentrated winding that can be wound on the linear teeth or tooth groups of the stator core 7. The concentrated winding has a short end, low leakage flux, and high slot fill factor, facilitating manufacturing, assembly, and insulation. The linear running winding 4 is powered by a full-bridge or half-bridge power conversion circuit, and the current direction is switched through commutation control, thereby achieving forward and reverse output of axial electromagnetic thrust and meeting different operating requirements such as reciprocating drive, positioning control, and speed regulation.

[0073] Please see Figure 5 , Figure 5 This is a schematic diagram illustrating the working principle of one embodiment of the opposed permanent magnet linear drive switched reluctance rotary two-degree-of-freedom motor provided by the present invention under linear operation conditions, as shown below. Figure 5 The diagram shown illustrates the working principle of the unit motor under linear operation. The specific operating principle is explained below with reference to this diagram: Figure 5 The dashed line represents the direction of the magnetic field generated by the armature winding, while the solid line represents the direction of the magnetic field generated by the stator permanent magnet 3. When no current is applied to the motor, the left and right moving permanent magnets 6 experience a net force of 0 from the stator side's balanced magnetic field, remaining stationary; when current is applied to the linear winding 4... Figure 5 When the current shown is applied, the magnetic field in regions I and III of the diagram is enhanced, while the magnetic field in regions II and IV is weakened. This results in an electromagnetic thrust on the permanent magnet 6, which is stronger to the left, causing the motor to move to the left. When the linear winding 4 is energized with current and... Figure 5 When the current is reversed, the magnetic field in regions I and III of the diagram is weakened, while the magnetic field in regions II and IV is strengthened. This results in an electromagnetic thrust that strengthens to the right of the permanent magnet 6, causing the motor to move to the right. In this way, the motor can move linearly along the x-axis.

[0074] By adjusting the current amplitude, conduction time, and commutation sequence of the linear winding 4, the thrust and speed can be adjusted, and thrust fluctuations can be suppressed to a certain extent. The mover assembly is fixedly connected to the non-magnetic shaft 1, which serves as the power output shaft. The linear thrust can be output to an external linear load or mechanism through the non-magnetic shaft 1. At the same time, since the same set of stator and mover can be reused with the rotary drive part, the structure remains compact in the linear drive operation mode, which is conducive to improving the system integration and overall power density.

[0075] Example 3: Multiplexing function - resonant operation with springs at both ends, please refer to [link / reference]. Figure 6 , Figure 6 This is a schematic diagram of a structure of an embodiment of the opposed permanent magnet linear drive switched reluctance rotary two-degree-of-freedom motor provided by the present invention, which needs to be reused for linear reciprocating resonant operation. Based on embodiment 2, as follows: Figure 6 As shown, elastic support structures can be selectively provided at both ends of the non-magnetic shaft 1 along its axial direction. Each elastic support structure includes a mechanical spring 8 connected to one end of the non-magnetic shaft 1, with the other end of the spring forming a support connection with the base or end cover. This provides axial restoring force to the mover assembly, enabling the mover assembly to form an oscillating system with electromagnetic thrust-elastic restoring force coupling in the axial direction. Preferably, the springs can be symmetrically arranged at both ends of the mover stroke to obtain approximately linear equivalent restoring characteristics and reduce additional friction or lateral force caused by off-center loading. Simultaneously, axial limiting components can be provided to limit the maximum amplitude, improving operational safety and reliability.

[0076] During operation, the linear winding 4, driven by the power conversion circuit, outputs periodic or commutated currents, generating periodic axial electromagnetic thrust, causing the mover assembly to reciprocate axially under the action of spring restoring force. This system can be equivalently represented as a single-degree-of-freedom forced vibration model, and its equation of motion can be expressed as:

[0077] ;

[0078] Where m is the equivalent mass of the moving part assembly and the non-magnetic shaft 1 participating in the vibration, c is the equivalent damping coefficient (including mechanical friction, air resistance, and electromagnetic damping), k is the equivalent stiffness of the springs at both ends, x is the axial displacement of the moving part, and F e (t) represents the axial electromagnetic thrust generated by the linear winding 4 under the action of the permanent magnet bias magnetic field. If the electromagnetic thrust can be approximated as a sinusoidal excitation F... e If F(t) = F0(t)sin(ωt), then the natural angular frequency and natural frequency of the system are respectively:

[0079] ;

[0080] When the driving angular frequency ω is close to the natural angular frequency ω n At this time, the mover assembly enters a resonant / near-resonant state, and the displacement amplitude is significantly amplified; its steady-state displacement amplitude can be expressed as:

[0081] ;

[0082] Therefore, by properly matching m and k near resonance (e.g., selecting spring stiffness and adjusting the equivalent mass of the mover) and controlling the damping level, a larger amplitude and higher energy conversion efficiency can be obtained with a smaller current, thus achieving a linear oscillation working mode. Furthermore, by adjusting the current amplitude and driving frequency of the linear winding 4, the amplitude and oscillation frequency can be controllably adjusted to adapt to different loads and different oscillation conditions.

[0083] This oscillation working mode is suitable for applications such as vibration excitation, reciprocating execution, resonant drive, and oscillation energy conversion. At the same time, the non-magnetic shaft 1 still serves as the power output shaft, which can transmit the oscillating mechanical energy to the external load or energy conversion device, realizing the efficient output of electromechanical energy in linear oscillation mode.

[0084] According to a second aspect of the present invention, a control method for a two-degree-of-freedom motor with opposed permanent magnet linear drive and switched reluctance rotation is also provided. The two-degree-of-freedom motor with opposed permanent magnet linear drive and switched reluctance rotation based on any of the above possible implementations includes a linear drive control mode and a rotation drive control mode.

[0085] The linear drive control mode includes: passing DC or pulse current into the linear running winding 4, so that the armature magnetic field generated by the linear running winding 4 interacts with the bilateral permanent magnet bias magnetic field formed by the stator permanent magnet 3 and the mover permanent magnet 6 to generate axial electromagnetic thrust; the thrust direction is switched by changing the current direction, and the thrust magnitude is adjusted by adjusting the current amplitude.

[0086] The rotary drive control mode includes: detecting the rotor position, energizing each phase of the rotating winding 2 sequentially according to the rotor position signal and a predetermined excitation sequence, so that an electromagnetic attraction torque is formed between the stator salient pole and the rotor salient pole, driving the mover assembly to rotate continuously; and adjusting the conduction angle, turn-off angle and current amplitude of each phase winding to achieve the adjustment of the rotary output torque and speed.

[0087] The linear drive control mode and the rotary drive control mode can be executed independently or simultaneously to achieve two degrees of freedom output of linear motion, rotary motion or linear-rotation composite motion.

[0088] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0089] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0090] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some service interface; the indirect coupling or communication connection between devices or units may be electrical or other forms.

[0091] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0092] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0093] The foregoing description is merely an exemplary embodiment of this disclosure and should not be construed as limiting the scope of this disclosure. Any equivalent changes and modifications made in accordance with the teachings of this disclosure shall still fall within the scope of this disclosure. Those skilled in the art will readily conceive of embodiments of this disclosure upon considering the specification and practicing the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not described herein. The specification and embodiments are to be considered exemplary only, and the scope and spirit of this disclosure are defined by the claims.

[0094] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0095] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A two-degree-of-freedom motor with opposed permanent magnet linear drive and switched reluctance rotation, characterized in that, include: Frame, non-magnetic shaft, stator assembly and mover assembly; The stator assembly is fixedly disposed within the frame and is used for rotary drive and linear drive, including a stator core, a stator permanent magnet, a rotary winding and a linear winding; The mover assembly is fixedly connected to the non-magnetic shaft, and moves axially and rotates about the axis relative to the stator assembly for rotary drive and linear drive, including a mover core and a mover permanent magnet disposed on the mover core; The stator permanent magnet and the mover permanent magnet are positioned opposite each other on both sides of the straight air gap to form a double-sided permanent magnet bias magnetic field. After the straight running winding is energized, it interacts with the double-sided permanent magnet bias magnetic field to generate an axial electromagnetic thrust, which drives the mover assembly to move in a straight line along the axial direction. The stator core has multiple stator salient poles arranged along the circumferential direction, and the mover core has multiple rotor salient poles arranged along the circumferential direction. The stator salient poles and the rotor salient poles are arranged opposite each other on both sides of the rotating air gap to form a switched reluctance magnetic circuit. The rotating running winding is wound on the stator salient poles and is energized sequentially according to the excitation sequence to generate electromagnetic torque, driving the mover assembly to rotate around the axis. The stator core is divided into multiple linear drive units along the axial direction. Each linear drive unit includes a linear tooth section and a stator permanent magnet arranged between adjacent linear teeth sections. The stator permanent magnets are alternately magnetized along the axial direction, and the magnetization directions of adjacent stator permanent magnets are opposite, so that the magnetic flux density of the straight air gap is a periodic magnetic field with alternating N and S poles along the axial direction. The linear running winding is a single-phase concentrated winding, wound on the linear tooth section. The linear running windings on each linear tooth section form a single-phase winding as a whole with the same winding direction and connection method. The moving core has a segmented structure along the axial direction, including multiple moving core segments, and the moving permanent magnet is arranged between adjacent moving core segments. The moving permanent magnet is magnetized radially, and the magnetization directions of adjacent moving permanent magnets are opposite, so that the moving assembly has a structure in which the moving iron core segment and the moving permanent magnet are alternately arranged along the axial direction; The stator permanent magnet and the mover permanent magnet are arranged along the axial direction with the same pole pitch, so that the magnetic field generated by the stator permanent magnet and the magnetic field generated by the mover permanent magnet are superimposed in the straight air gap, forming a double-sided opposed permanent magnet bias magnetic field distribution; the rotating winding is a multi-phase concentrated winding, with each phase winding wound on several stator salient poles, and each phase winding is arranged in a predetermined phase sequence in the circumferential direction; The rotating winding has multiple phases and is independently powered by a switched reluctance drive circuit. Each phase winding is turned on and off sequentially according to the rotor position detection signal, generating a step-by-step electromagnetic torque to drive the rotor assembly to rotate continuously.

2. The two-degree-of-freedom motor with opposed permanent magnet linear drive and switched reluctance rotation according to claim 1, characterized in that, The energizing sequence, conduction angle, and turn-off angle of each phase of the rotating winding are adjusted according to the rotational speed and load requirements to achieve control of the rotating output torque and speed. The linear winding is powered by a full-bridge or half-bridge power conversion circuit. The direction of the axial electromagnetic thrust is switched by changing the current direction, and the thrust magnitude is controlled by adjusting the current amplitude.

3. The two-degree-of-freedom motor with opposed permanent magnet linear drive and switched reluctance rotation according to claim 1, characterized in that, Elastic support structures can be selectively provided between the two axial ends of the non-magnetic shaft and the base. The elastic support structure includes a mechanical spring, one end of which is connected to the end of the non-magnetic shaft and the other end of which is connected to the base, providing axial restoring force to the moving part assembly. The mechanical springs are symmetrically arranged at both ends of the non-magnetic shaft, so that the moving part assembly forms a single-degree-of-freedom oscillation system under the combined action of axial electromagnetic thrust and spring restoring force.

4. The two-degree-of-freedom motor with opposed permanent magnet linear drive and switched reluctance rotation according to claim 3, characterized in that, The elastic support structure also includes an axial limiting member, which is disposed at both ends of the stroke of the moving part assembly to limit the maximum axial displacement of the moving part assembly; The stiffness of the mechanical spring is matched according to the equivalent mass of the moving part assembly and the target oscillation frequency.

5. The two-degree-of-freedom motor with opposed permanent magnet linear drive and switched reluctance rotation according to claim 1, characterized in that, Both the stator core and the mover core are made of magnetically conductive materials stacked together, and the non-magnetically conductive shaft is made of non-magnetically conductive metal material or non-metallic composite material. The stator permanent magnet and the mover permanent magnet are made of permanent magnet material and are fixed in the corresponding iron core slots or on the surface.

6. The two-degree-of-freedom motor with opposed permanent magnet linear drive and switched reluctance rotation according to claim 5, characterized in that, The linear winding and the rotary winding are in the form of concentrated windings, with the winding ends located at both axial ends of the stator core. A bearing is provided between the stator assembly and the mover assembly to support the mover assembly and reduce motion friction.

7. A control method for a two-degree-of-freedom motor with opposed permanent magnet linear drive and switched reluctance rotation, based on the two-degree-of-freedom motor with opposed permanent magnet linear drive and switched reluctance rotation as described in any one of claims 1-6, characterized in that, Includes linear drive control mode and rotary drive control mode; The linear drive control mode includes: passing a DC or pulse current through the linear running winding, so that the armature magnetic field generated by the linear running winding interacts with the bilateral permanent magnet bias magnetic field formed by the stator permanent magnet and the mover permanent magnet to generate axial electromagnetic thrust; switching the thrust direction by changing the current direction, and adjusting the thrust magnitude by adjusting the current amplitude. The rotary drive control mode includes: detecting the rotor position, energizing each phase of the rotating winding in a predetermined excitation sequence according to the rotor position signal, so that an electromagnetic attraction torque is formed between the stator salient pole and the rotor salient pole, driving the mover assembly to rotate continuously; and adjusting the conduction angle, turn-off angle and current amplitude of each phase winding to achieve the adjustment of the rotary output torque and speed. The linear drive control mode and the rotary drive control mode are executed independently or simultaneously to achieve two-degree-of-freedom output of linear motion, rotary motion, or linear-rotational composite motion.

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