Electric motor and driving method

Abstract

This invention discloses a motor and its driving method. The motor includes a stator yoke, stator teeth, a rotor magnetic ring, a first phase line, and a second phase line. The stator teeth are fixed to the stator yoke. The rotor magnetic ring is fixed to the rotor yoke. The rotor magnetic ring and the stator yoke are coaxially arranged. The rotor magnetic ring is composed of multiple rotor magnets arranged in an alternating N-S pole configuration, and the connection surfaces between the rotor magnets have a skewed pole structure. The number of stator teeth is twice the number of rotor magnets. The rotor magnets can be permanent magnets or energized iron-core coils. The first phase line and the second phase line are wound alternately on the stator teeth. In the coil of the first phase line, the winding directions of adjacent coils are opposite. In the coil of the second phase line, the winding directions of adjacent coils are opposite. The above-described motor achieves motor drive by energizing two-phase windings, significantly improving the working efficiency of a brushless DC motor.

Description

Technical Field

[0001] This invention relates to the field of motor technology, and in particular to a motor and its driving method. Background Technology

[0002] Compared to brushed DC motors, brushless DC motors offer advantages such as higher torque density and controllable speed and power, leading to their widespread use in drones, electric vehicles, and robots. However, traditional brushless DC motors employ a three-phase winding system, which prevents individual or synchronous control of each phase coil. This design hinders improvements in output torque and energy efficiency under complex operating conditions. Consequently, existing brushless DC motors with three-phase windings suffer from low efficiency. Summary of the Invention

[0003] To overcome the shortcomings of existing technical solutions, embodiments of the present invention provide a motor and a driving method.

[0004] The technical solution adopted by this invention to solve its technical problem is: In a first aspect, the present invention provides an electric motor, wherein the electric motor includes a stator yoke, a stator tooth column, a rotor magnetic ring, a rotor yoke, a first phase line and a second phase line; One end of the stator tooth column is connected to the stator yoke; the rotor magnetic ring is connected to the rotor magnetic yoke; the rotor magnetic ring and the stator magnetic yoke are coaxially arranged, and the rotor magnetic ring and the rotor magnetic yoke rotate around the central axis of the stator magnetic yoke; The rotor magnetic ring is composed of multiple rotor magnets arranged in an alternating N / S pole configuration, and the connection surface between the rotor magnets in the rotor magnetic ring is a skewed pole structure; the number of stator teeth is twice the number of rotor magnets. The first phase wire and the second phase wire are wound alternately around the stator teeth. In the stator teeth wound with the first phase wire, the winding directions of adjacent stator teeth are opposite; in the stator teeth wound with the second phase wire, the winding directions of adjacent stator teeth are opposite.

[0005] In the motor, the number of stator teeth and the number of rotor magnets are both even numbers, and the number is not less than 4.

[0006] The motor wherein adjacent rotor magnets are connected by a stepped interlocking connection, an inclined surface connection, or a concave-convex surface interlocking connection.

[0007] In the motor, adjacent rotor magnets are connected by a concave-convex surface fitting; one end of the rotor magnet is provided with an outwardly protruding protrusion, and the other end is provided with a concave cavity adapted to the protrusion.

[0008] The motor is described above, wherein the rotor magnetic ring is a permanent magnet ring composed of permanent magnets surrounding it.

[0009] In the motor, the rotor magnetic ring is a magnetic ring composed of multiple excitation coil magnets; the ends of the wires wound on the excitation coil magnets are fixedly connected to the first slip ring and the second slip ring respectively, and the first slip ring and the second slip ring are slidably connected to the first brush and the second brush respectively.

[0010] The motor is provided with a rotor cavity on the inner side of the stator gear column, and the rotor magnetic ring is disposed in the rotor cavity and rotates about the axial direction.

[0011] In the aforementioned motor, the rotor magnetic ring is sleeved on the outer periphery of the stator gear column, and the rotor magnetic ring rotates around the outer periphery of the stator gear column.

[0012] In a second aspect, the present invention also provides a method for driving an electric motor, the method being applied to the electric motor described in the first aspect, the method comprising using a two-phase synchronous drive control process or a single-phase alternating drive control process to control the rotation of the motor; The two-phase synchronous drive control process includes: S11. Control the current in both the first phase line and the second phase line to flow in the positive direction; S12. After an interval of one phase cycle, adjust the current of the second phase line to flow in the reverse direction; S13. After a phase cycle, adjust the current of the first phase line to flow in the reverse direction. At this time, the currents of the first phase line and the second phase line flow in the reverse direction. S14. After an interval of one phase cycle, adjust the current of the second phase line to flow in the forward direction; S15. After an interval of one phase cycle, return to step S11; by repeatedly executing the above steps, the motor is controlled to run continuously.

[0013] The motor driving method described above, wherein the single-phase alternating drive control process includes: S21. Control the current to flow in the first phase line in the forward direction and prevent the current to flow in the second phase line; S22. After an interval of one phase cycle, adjust the first phase line to have no current flowing through it and control the current in the second phase line to flow in the reverse direction. S23. After an interval of one phase cycle, adjust the current of the first phase line to flow in reverse, and no current flows through the second phase line; S24. After an interval of one phase cycle, adjust the first phase line to have no current flowing through it and control the current to flow in the second phase line in the positive direction. S25. After an interval of one phase cycle, return to step S21; by repeatedly executing the above steps, the motor is controlled to run continuously.

[0014] When driven by a two-phase synchronous drive control process, the output torque is greater and the power is more continuous; when driven by a single-phase alternating drive control process, the energy consumption is lower and the efficiency is higher.

[0015] This application discloses a motor and its driving method. The motor includes a stator yoke, stator teeth, a rotor magnetic ring, a first phase line, and a second phase line. The stator teeth are fixed to the stator yoke. The rotor magnetic ring is fixed to the rotor yoke. The rotor yoke and stator yoke are coaxially arranged. The rotor magnetic ring is composed of multiple rotor magnets arranged in an alternating N / S pole configuration, and the connection surfaces between the rotor magnets are of a skewed pole structure. The number of stator teeth is twice the number of rotor magnets. The rotor magnets can be permanent magnets or energized iron-core coils. The first and second phase lines are wound alternately on the stator teeth. In the coil of the first phase line, the winding directions of adjacent coils are opposite. In the coil of the second phase line, the winding directions of adjacent coils are opposite. The above-mentioned motor achieves motor drive by energizing two-phase windings, significantly improving the working efficiency of a brushless DC motor. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a structural diagram of the motor according to an embodiment of the present invention; Figure 2 This is a partial structural diagram of the rotor magnetic ring in the motor according to an embodiment of the present invention; Figure 3 This is another partial structural diagram of the rotor magnetic ring in the motor according to an embodiment of the present invention; Figure 4 This is another partial structural diagram of the rotor magnetic ring in the motor according to an embodiment of the present invention; Figure 5 This is another structural diagram of the motor according to an embodiment of the present invention; Figure 6 This is another partial structural diagram of the rotor magnetic ring in the motor according to an embodiment of the present invention; Figure 7 This is a schematic diagram illustrating the application process of the motor according to an embodiment of the present invention; Figure 8 This is a schematic diagram illustrating the application process of the motor according to an embodiment of the present invention; Figure 9This is a flowchart of the driving method according to an embodiment of the present invention; Figure 10 This is a flowchart of the driving method according to an embodiment of the present invention; Figure 11 This is a circuit structure diagram of the driving method adapted to the driving circuit in an embodiment of the present invention; Figure 12 This is a voltage waveform diagram of a driving process in the driving method of this embodiment of the invention; Figure 13 This is a voltage waveform diagram of another driving process of the driving method according to an embodiment of the present invention; Figure 14 This is a voltage waveform diagram of another driving process of the driving method in this embodiment of the invention; Figure 15 This is a voltage waveform diagram of another driving process of the driving method in an embodiment of the present invention; Figure 16 This is a schematic diagram of the driving process in the two-phase synchronous driving control flow of the driving method in an embodiment of the present invention; Figure 17 This is another schematic diagram of the driving process in the two-phase synchronous driving control flow of the driving method in this embodiment of the invention; Figure 18 This is a schematic diagram of another driving process in the two-phase synchronous driving control flow of the driving method in an embodiment of the present invention; Figure 19 This is a schematic diagram of another driving process in the two-phase synchronous driving control flow of the driving method in the embodiment of the present invention; Figure 20 This is a schematic diagram of the latter driving process in the two-phase synchronous driving control flow of the driving method in the embodiment of the present invention; Figure 21 This is a schematic diagram of another driving process following the two-phase synchronous driving control flow in the driving method of this embodiment of the invention; Figure 22 This is a schematic diagram of another driving process following the two-phase synchronous driving control flow in the driving method of this embodiment of the invention; Figure 23 This is a schematic diagram of the driving process in the single-phase alternating drive control flow of the driving method in an embodiment of the present invention; Figure 24 This is another schematic diagram of the driving process in the single-phase alternating drive control flow of the driving method in this embodiment of the invention; Figure 25 This is a schematic diagram of another driving process in the single-phase alternating drive control flow of the driving method in an embodiment of the present invention; Figure 26 This is a schematic diagram of another driving process in the single-phase alternating drive control flow of the driving method in an embodiment of the present invention; Figure 27 This is a schematic diagram of the subsequent driving process in the single-phase alternating drive control flow of the driving method in an embodiment of the present invention; Figure 28 This is a schematic diagram of another driving process following the single-phase alternating drive control flow in the driving method of this embodiment of the invention; Figure 29 This is a schematic diagram of another driving process following the single-phase alternating drive control flow in the driving method of this embodiment of the invention.

[0018] Numbers in the diagram 1. Stator yoke; 2. Stator tooth column; 3. Rotor magnetic ring; 4. Rotor yoke; 5. First phase line; 6. Second phase line; M, Motor; G1, First MOSFET; G2, Second MOSFET; G3, Third MOSFET; G4, Fourth MOSFET; G5, Fifth MOSFET; G6, Sixth MOSFET; G7, Seventh MOSFET; G8, Eighth MOSFET; MCU, Control Unit; 21. Tooth shoe; 31. Permanent magnet; 32. Excitation coil magnet; 331, First slip ring; 332, Second slip ring; 341, First brush; 342, Second brush; VS, Power supply. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0021] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0022] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0023] This invention discloses a motor M, wherein the motor M includes a stator yoke 1, a stator tooth 2, a rotor magnetic ring 3, a rotor magnetic ring 4, a first phase line 5, and a second phase line 6; one end of the stator tooth 2 is fixedly connected to the stator yoke 1, and the stator tooth 2 is arranged around the outer periphery of the stator yoke 1; the rotor magnetic ring 3 is connected to the rotor magnetic ring 4; the rotor magnetic ring 3 and the stator yoke 1 are coaxially arranged, and the rotor magnetic ring 3 and the rotor magnetic ring 4 are arranged around the central axis of the stator yoke 1. Rotation; the rotor magnetic ring 3 is composed of multiple rotor magnets arranged in an alternating N / S pole manner, and the connection surface between the rotor magnets in the rotor magnetic ring 3 is a skewed pole structure; the number of stator teeth 2 is twice the number of rotor magnets; the first phase line 5 and the second phase line 6 are wound around the stator teeth 2 at intervals, and the winding directions of adjacent stator teeth 2 are opposite in the stator teeth 2 wound by the first phase line 5, and the winding directions of adjacent stator teeth 2 are opposite in the stator teeth 2 wound by the second phase line 6.

[0024] like Figure 1 As shown, in one specific embodiment, the rotor magnetic ring 3 is sleeved on the outer circumference of the stator tooth column 2, and the rotor magnetic ring 3 rotates around the outer circumference of the stator tooth column 2. The rotor magnetic ring 3 has a ring structure, and the sidewall of the rotor yoke 4 is an annular shape adapted to the rotor magnetic ring 3. The rotor magnetic ring 3 is fixedly arranged around and tightly attached to the annular sidewall of the rotor yoke 4; therefore, during the rotation of the rotor magnetic ring 3, the rotor yoke 4 and the rotor magnetic ring 3 rotate synchronously. The stator tooth column 2 is arranged in a spoke-like shape around the outer circumference of the stator yoke 1, and the rotor magnetic ring 3 is coaxial with the stator yoke 1, so the rotor magnetic ring 3 can rotate around the outer circumference of the stator tooth column 2. The number of stator tooth columns 2 is set to twice the number of rotor magnets, so each rotor magnet corresponds to two stator tooth columns 2. For example, if the number of rotor magnets is set to N, then the corresponding number of stator tooth columns 2 is 2N.

[0025] In another specific embodiment, such as Figure 5 and Figure 6 As shown, a rotor cavity is provided inside the stator tooth column 2, and the rotor magnetic ring 3 is disposed within the rotor cavity and rotates about its own axis. The rotor magnetic ring 3 is disposed within the rotor cavity inside the stator tooth column 2 and rotates about its own axis. The rotor magnetic ring 3 is coaxially arranged with the stator yoke 1. In this case, the stator yoke 1 is sleeved on the outside of the stator tooth column 2, and the rotor magnet in the rotor magnetic ring 3 is fixedly connected to the outer periphery of the rotor yoke 4. The winding method of the first phase line and the second phase line remains unchanged.

[0026] Figure 5 and Figure 6The illustration specifically depicts the case where the rotor magnet in the rotor magnetic ring 3 is an excitation coil magnet 32. The excitation coil magnet 32 ​​consists of multiple rotor teeth, with wires wound sequentially around each tooth, the winding direction of the wires on adjacent rotor teeth being opposite. This ensures that the excitation coil magnet 32 ​​is connected in an alternating N / S pole arrangement. One end of the wire is energized and connected to the first brush 341 via a first slip ring 331, with the first brush 341 connected to the negative terminal of the power supply VS. The other end of the wire is energized and connected to the second brush 342 via a second slip ring 332, with the second brush 342 connected to the positive terminal of the power supply VS. Thus, during rotation, the excitation coil magnet 32 ​​ensures a stable electrical connection at one end of the wire through the first brush and the first slip ring, and a stable electrical connection at the other end of the wire through the second brush and the second slip ring; that is, the excitation coil magnet 32 ​​maintains its magnetism continuously during rotation, thereby achieving stable operation of the motor M. In other embodiments, the rotor magnet in the rotor magnetic ring 3 can be replaced by a permanent magnet 31 instead of the excitation coil magnet 32, with the same practical application effect.

[0027] Furthermore, to achieve stable operation of the motor M, the first phase wire 5 and the second phase wire 6 can be wound alternately around the stator tooth column 2. That is, when the first phase wire 5 is wound around a certain stator tooth column 2, the two stator tooth columns 2 adjacent to that stator tooth column 2 are both wound with the second phase wire 6. Among the stator tooth columns wound with the first phase wire 5, the winding directions of adjacent stator tooth columns 2 are opposite; among the stator tooth columns wound with the second phase wire 6, the winding directions of adjacent stator tooth columns 2 are also opposite. For example, as... Figure 1 As shown, the rotor magnetic ring 3 in this embodiment contains 10 magnets, and the number of stator teeth 2 is 20. Each stator tooth is wound in a concentrated manner, with 20 coils. Among them, A0, A1, A2, A3, A4, A5, A6, A7, A8, and A9 are the 10 coils corresponding to the first phase line 5 (stator phase A). The winding direction of A0, A2, A4, A6, and A8 is opposite to that of A1, A3, A5, A7, and A9. B0, B1, B2, B3, B4, B5, B6, B7, B8, and B9 are the 10 coils corresponding to the second phase line 6 (stator phase B). The winding direction of B0, B2, B4, B6, and B8 is opposite to that of B1, B3, B5, B7, and B9. A0 and B0 are adjacent and have the same winding direction, and so on. Ah and At are the two terminals of the first phase line 5 (stator phase A), and Bh and Bt are the two terminals of the second phase line 6 (stator phase B).

[0028] Furthermore, to achieve stable drive of motor M, the connecting surfaces between rotor magnets in rotor magnetic ring 3 are designed with skewed poles, and adjacent rotor magnets are arranged end-to-end using the principle of opposite pole attraction. This means that multiple rotor magnets are connected in alternating N / S pole configurations, forming a ring-shaped rotor magnetic ring 3 structure. The skewed pole structure means that the connecting surfaces between the rotor magnets do not coincide with the axial direction of the stator yoke 1.

[0029] In practical applications, the adjacent rotor magnets can be connected by a stepped interlocking connection, an inclined surface connection, or a concave-convex surface interlocking connection, depending on the axial length of the stator; the stepped structure on the connecting side of the rotor magnet can be configured as a single step or multiple steps. For example... Figure 8 As shown, after setting the skewed pole structure, the connecting side between adjacent rotor magnets will not coincide with the gap of the stator slot (the gap of the stator slot is also the gap between the tooth shoes 21 in the adjacent stator tooth column 2) at any angle; that is, by setting the skewed pole structure, it is ensured that the rotor magnet in the rotor magnetic ring 3 and the stator tooth column 2 cannot completely coincide, so that after the first phase line 5 and the second phase line 6 are energized, a corresponding torque can be generated to drive the rotor magnetic ring 3 to rotate stably.

[0030] In a specific embodiment, the number of stator teeth 2 and the number of rotor magnets are both even numbers. For example, the number of rotor magnets can be 4, 6, 8, 10, 12, etc., corresponding to the number of stator teeth 2 being 8, 12, 16, 20, 24, etc. Specifically, the stator teeth 2 have a toothed shoe 21 near the end of the rotor magnetic ring 3. The curvature of the toothed shoe 21 matches the curvature of the inner or outer ring of the rotor magnetic ring 3. By adding the toothed shoe 21, the toothed shoes 21 can be combined to form an annular baffle, allowing the rotor magnetic ring 3 to rotate around the outside of the annular baffle, thus improving the rotational stability of the rotor magnetic ring 3. Adjacent toothed shoes 21 can abut against each other, or a certain gap can be maintained between adjacent toothed shoes 21. The number of rotor magnets in the rotor magnetic ring 3 can be set to be not less than 4; to improve the rotational stability of the motor M, the number of rotor magnets in the rotor magnetic ring 3 can be set to be greater than or equal to 4.

[0031] In one specific embodiment, adjacent rotor magnets are connected by a stepped interlocking connection, an inclined surface connection, or a concave-convex surface interlocking connection. Specifically, adjacent rotor magnets are connected by a stepped interlocking connection; the number of steps on the connecting side of the rotor magnet is not less than two. Alternatively, adjacent rotor magnets are connected by a concave-convex surface interlocking connection; one end of the rotor magnet has an outwardly protruding protrusion, and the other end has a concave cavity that matches the protrusion.

[0032] To achieve the connection between rotor magnets via a skewed pole structure, the rotor magnets can be connected using a stepped interlocking connection, a slanted connection, or a concave-convex surface interlocking connection. For example... Figure 2As shown, the connecting side of the rotor magnet is an inclined side, and this inclined pole structure connection is called an inclined plane connection (obtained by stretching the rotor magnetic ring 3 from a ring shape into a long strip). Figure 2 (Structure shown); as shown Figure 3 As shown, adjacent rotor magnets are connected by a stepped interlocking connection, meaning the connecting side of the rotor magnet contains at least one step. To further improve the reliability of the rotor magnet connection, the number of steps on the connecting side of the rotor magnet can be set to be no less than 2, so that adjacent rotor magnets can form an interlocking stepped structure after contact. Figure 4 As shown, adjacent rotor magnets can be connected by a concave-convex surface fitting, in which case one end of the rotor magnet is provided with an outward protrusion and the other end is provided with a concave cavity that matches the protrusion.

[0033] In one specific embodiment, the rotor magnetic ring 3 is a permanent magnet ring composed of permanent magnets 31 surrounding it. In this case, all the rotor magnets in the rotor magnetic ring 3 are permanent magnets 31, corresponding to... Figures 2 to 4 The rotor magnetic ring 3 structure is shown.

[0034] In another specific embodiment, the rotor magnetic ring 3 is an excitation coil magnet 32, and each rotor magnet in the excitation coil magnet 32 ​​is also combined using a skewed pole structure; each rotor magnet corresponds to one rotor tooth column, and the connecting side between the rotor teeth columns in the excitation coil magnet 32 ​​is set as an inclined surface, so the connecting side between the rotor teeth columns does not coincide with the axial direction of the stator yoke 1; in specific applications, the connecting side between the rotor teeth columns can be set to a stepped interlocking connection, an inclined surface connection, or a concave-convex surface interlocking connection; the stepped structure set on the connecting side between the rotor teeth columns can be set as a single step or multiple steps. Figure 7 As shown, after setting the skewed pole structure, the connecting side between adjacent rotor magnets will not coincide with the gap of the stator slot (the gap of the stator slot is also the gap between the tooth shoes 21 in the adjacent stator tooth column 2) at any angle; that is, by setting the skewed pole structure, it is ensured that the rotor magnet in the rotor magnetic ring 3 and the stator tooth column 2 cannot completely coincide, so that after the first phase line 5 and the second phase line 6 are energized, a corresponding torque can be generated to drive the rotor magnetic ring 3 to rotate stably.

[0035] This invention also discloses a method for driving a motor, wherein the driving method is applied to the motor described in the above embodiments, and the driving method includes employing a two-phase synchronous drive control process or a single-phase alternating drive control process. That is, the motor can be controlled to rotate forward or backward using a two-phase synchronous drive control process, or the motor can be controlled to rotate forward or backward using a single-phase alternating drive control process.

[0036] The motor of this invention has two driving methods: a two-phase synchronous drive control process and a single-phase alternating drive control process. When using the two-phase synchronous drive control process, the output torque is greater and the power is more continuous; when using the single-phase alternating drive control process, the energy consumption is lower and the efficiency is higher. Figure 11 The circuit structure diagram for driving and controlling the electrodes is as follows: Figure 11 As shown, the circuit structure diagram includes a motor M, a control unit MCU, a power supply VS, and a first field-effect transistor G1, a second field-effect transistor G2, a third field-effect transistor G3, a fourth field-effect transistor G4, a fifth field-effect transistor G5, a sixth field-effect transistor G6, a seventh field-effect transistor G7, and an eighth field-effect transistor G8; the two terminals corresponding to the first phase line are Ah and At, and the two terminals corresponding to the second phase line are Bh and Bt. The two terminals Ah and At of the first phase line, together with the first field-effect transistor G1, the second field-effect transistor G2, the third field-effect transistor G3, and the fourth field-effect transistor G4, form an H-bridge; the two terminals Bh and Bt of the second phase line, together with the fifth field-effect transistor G5, the sixth field-effect transistor G6, the seventh field-effect transistor G7, and the eighth field-effect transistor G8, form another H-bridge; by controlling the voltage levels of the first field-effect transistor G1, the second field-effect transistor G2, the third field-effect transistor G3, the fourth field-effect transistor G4, the fifth field-effect transistor G5, the sixth field-effect transistor G6, the seventh field-effect transistor G7, and the eighth field-effect transistor G8, the voltage of the four terminals Ah, At, Bh, and Bt can be controlled, thus controlling the direction of current flowing in the first and second phase lines.

[0037] like Figure 12 This is a voltage waveform diagram for one complete phase cycle of forward rotation in a two-phase synchronous drive control process. One complete phase cycle contains four voltage phases. In the diagram, the horizontal axis from 0 to 1 represents the time process of the first voltage phase, 1 to 2 the time process of the second voltage phase, 2 to 3 the time process of the third voltage phase, and 3 to 4 the time process of the fourth voltage phase, and so on. Figure 12 The voltage waveform diagram corresponds to the control signal truth table as shown in Table 1. Table 1 is the IO truth table of the control unit MCU in the forward rotation mode of the two-phase synchronous drive control process.

[0038] Table 1 like Figure 13 This is a voltage waveform diagram for one complete phase cycle of reverse rotation in a two-phase synchronous drive control process. One complete phase cycle contains four voltage phases; and... Figure 13 The voltage waveform diagram corresponds to the control signal truth table as shown in Table 2. Table 2 is the IO truth table of the control unit MCU in the reverse rotation mode of the two-phase synchronous drive control process.

[0039] Table 2 like Figure 14 This is a voltage waveform diagram for one complete phase cycle of forward rotation in a single-phase alternating drive control process. One complete phase cycle contains four voltage phases. Figure 14 The voltage waveform diagram corresponds to the control signal truth table as shown in Table 3. Table 3 is the IO truth table of the control unit MCU in the forward rotation mode of the single-phase alternating drive control process.

[0040] Table 3 like Figure 15 This is a voltage waveform diagram for one complete phase cycle of reverse rotation in a single-phase alternating drive control process. One complete phase cycle contains four voltage phases. Figure 15 The voltage waveform diagram corresponds to the control signal truth table as shown in Table 4. Table 4 is the IO truth table of the control unit MCU in the reverse rotation mode of the single-phase alternating drive control process.

[0041] Table 4 The two control flows are explained in detail below. For example... Figure 9 As shown, the two-phase synchronous drive control process includes steps S11-S15.

[0042] S11. Control the current in both the first phase line and the second phase line to flow in the positive direction.

[0043] By controlling the MCU to set the voltage levels of the first field-effect transistor G1, the second field-effect transistor G2, the third field-effect transistor G3, the fourth field-effect transistor G4, the fifth field-effect transistor G5, the sixth field-effect transistor G6, the seventh field-effect transistor G7, and the eighth field-effect transistor G8 to 1, 0, 0, 1, 1, 0, 0, 1 respectively (corresponding to the first voltage phase in Table 1), the voltages of the four terminals Ah, At, Bh, and Bt will be positive, negative, positive, and negative respectively. For example... Figure 16 As shown, the current in the first phase line (phase A) flows from the Ah terminal to the At terminal, and the current in the second phase line (phase B) flows from the Bh terminal to the Bt terminal. That is, the current in both the first and second phase lines flows in the forward direction (assuming current flowing from the h terminal to the t terminal is forward flow, and current flowing from the t terminal to the h terminal is reverse flow). The rotor magnetic ring returns to the first voltage phase steady-state position. At this time, the slot pole alignment state (the alignment state between the rotor magnetic ring and the stator teeth) is as follows: Figure 16 As shown in Figure (b).

[0044] S12. After a phase cycle, adjust the current of the second phase line to flow in the reverse direction.

[0045] After a phase cycle, the control unit MCU sets the voltage levels of the first field-effect transistor G1, the second field-effect transistor G2, the third field-effect transistor G3, the fourth field-effect transistor G4, the fifth field-effect transistor G5, the sixth field-effect transistor G6, the seventh field-effect transistor G7, and the eighth field-effect transistor G8 to 1, 0, 0, 1, 0, 1, 1, 0 respectively (corresponding to the second voltage phase in Table 1). Then, the voltages at the four terminals Ah, At, Bh, and Bt are positive, negative, negative, and positive respectively. For example... Figure 17 As shown, the B-phase coil current flows from the Bt end to the Bh end, and at this time, the current in the second phase line flows in the reverse direction. The slot pole alignment state is as follows. Figure 17 As shown in Figure (b).

[0046] like Figure 18 As shown, after a short period of rotation, the rotor magnetic ring reaches the steady-state position of the second voltage phase, at which point the slot pole alignment is as follows. Figure 18 As shown in Figure (b).

[0047] S13. After a phase cycle, adjust the current of the first phase line to flow in reverse. At this time, the currents of both the first and second phase lines flow in reverse. After a phase cycle, the control unit MCU sets the voltage levels of the first field-effect transistor G1, the second field-effect transistor G2, the third field-effect transistor G3, the fourth field-effect transistor G4, the fifth field-effect transistor G5, the sixth field-effect transistor G6, the seventh field-effect transistor G7, and the eighth field-effect transistor G8 to 0, 1, 1, 0, 0, 1, 1, 0 respectively (corresponding to the third voltage phase in Table 1). Then, the voltages at the four terminals Ah, At, Bh, and Bt are negative, positive, negative, and positive respectively. For example... Figure 19 As shown, the current in phase A coil flows from terminal At to terminal Ah. At this time, the current in the first phase line flows in the reverse direction, and the slot pole alignment is as follows. Figure 19 As shown in Figure (b).

[0048] like Figure 20 As shown, after a short period of rotation, the rotor magnetic ring reaches the steady-state position of the third voltage phase, and the slot pole alignment state is as shown in Figure (b) of 20.

[0049] S14. After a phase cycle, adjust the current of the second phase line to flow in the forward direction.

[0050] After a phase cycle, the control unit MCU sets the voltage levels of the first field-effect transistor G1, the second field-effect transistor G2, the third field-effect transistor G3, the fourth field-effect transistor G4, the fifth field-effect transistor G5, the sixth field-effect transistor G6, the seventh field-effect transistor G7, and the eighth field-effect transistor G8 to 0, 1, 1, 0, 1, 0, 0, 1 respectively (corresponding to the fourth voltage phase in Table 1). Then, the voltages at the four terminals Ah, At, Bh, and Bt are negative, positive, positive, and negative respectively. For example... Figure 21 As shown, the B-phase coil current flows from the Bh terminal to the Bt terminal. At this time, the current in the second phase line flows in the positive direction, and the slot pole alignment is as follows. Figure 21 As shown in Figure (b).

[0051] like Figure 22 As shown, after a short period of rotation, the rotor magnetic ring reaches the fourth voltage phase steady-state position, at which point the slot pole alignment is as follows: Figure 22 As shown in Figure (b).

[0052] S15. After an interval of one phase cycle, return to step S11; by repeatedly executing the above steps, the motor is controlled to run continuously.

[0053] At this point, one voltage control cycle is completed. After another phase cycle, the process returns to step S11. Repeating the above steps will allow the motor to continue running in the forward direction. The process of controlling the motor to rotate in the reverse direction corresponds to the periodic control of the MOSFET level according to the IO truth table shown in Table 2. The relevant process is similar to the above-described cyclic control flow and will not be described in detail here.

[0054] In a specific embodiment, such as Figure 10 As shown, the single-phase alternating drive control process includes steps S21-S25.

[0055] S21, control the current to flow in the first phase line in the forward direction and control the current to flow in the second phase line to have no current flow.

[0056] By controlling the MCU to set the voltage levels of the first field-effect transistor G1, the second field-effect transistor G2, the third field-effect transistor G3, the fourth field-effect transistor G4, the fifth field-effect transistor G5, the sixth field-effect transistor G6, the seventh field-effect transistor G7, and the eighth field-effect transistor G8 to 1, 0, 0, 1, 0, 0, 0 (corresponding to the first voltage phase in Table 3), the voltages of the four terminals Ah, At, Bh, and Bt will be positive, negative, zero, and zero, respectively. For example... Figure 23 As shown, current flows from the Ah terminal to the At terminal in the first phase line (phase A), while there is no current in the second phase line (phase B). That is, current flows in the first phase line in the forward direction, and no current flows in the second phase line. The rotor magnetic ring returns to the steady-state position of the first voltage phase, at which point the slot pole alignment is as follows: Figure 23 As shown in Figure (b).

[0057] S22. After an interval of one phase cycle, adjust the first phase line to have no current flowing through it and control the current in the second phase line to flow in the reverse direction.

[0058] After a phase cycle, the control unit MCU sets the voltage levels of the first field-effect transistor G1, the second field-effect transistor G2, the third field-effect transistor G3, the fourth field-effect transistor G4, the fifth field-effect transistor G5, the sixth field-effect transistor G6, the seventh field-effect transistor G7, and the eighth field-effect transistor G8 to 0, 0, 0, 0, 0, 1, 1, 0 respectively (corresponding to the second voltage phase in Table 3). Then, the voltages at the four terminals Ah, At, Bh, and Bt are zero, zero, negative, and positive respectively. For example... Figure 24 As shown, there is no current in phase A coil, and the current in phase B coil flows from end Bt to end Bh. At this time, the current in the second phase line flows in the reverse direction, and the slot pole alignment is as follows. Figure 24 As shown in Figure (b). Figure 25 As shown, after a short period of rotation, the rotor magnetic ring reaches the steady-state position of the second voltage phase, at which point the slot pole alignment is as follows. Figure 25 As shown in Figure (b).

[0059] S23. After an interval of one phase cycle, adjust the current of the first phase line to flow in the reverse direction, and no current flows through the second phase line.

[0060] After a phase cycle, the control unit MCU sets the voltage levels of the first field-effect transistor G1, the second field-effect transistor G2, the third field-effect transistor G3, the fourth field-effect transistor G4, the fifth field-effect transistor G5, the sixth field-effect transistor G6, the seventh field-effect transistor G7, and the eighth field-effect transistor G8 to 0, 1, 1, 0, 0, 0, 0, 0 respectively (corresponding to the third voltage phase in Table 3). Then, the voltages at the four terminals Ah, At, Bh, and Bt are negative, positive, zero, and zero respectively. For example... Figure 26 As shown, the current in phase A coil flows from terminal At to terminal Ah, while there is no current in phase B coil. At this time, the current in the first phase line flows in the reverse direction, and the slot pole alignment is as follows. Figure 26 As shown in Figure (b).

[0061] like Figure 27 As shown, after a short period of rotation, the rotor magnetic ring reaches the steady-state position of the third voltage phase. At this time, the slot pole alignment is as follows: Figure 27 As shown in Figure (b).

[0062] S24. After an interval of one phase cycle, adjust the first phase line to have no current flowing through it and control the current in the second phase line to flow in the positive direction.

[0063] After a phase cycle, the control unit MCU sets the voltage levels of the first field-effect transistor G1, the second field-effect transistor G2, the third field-effect transistor G3, the fourth field-effect transistor G4, the fifth field-effect transistor G5, the sixth field-effect transistor G6, the seventh field-effect transistor G7, and the eighth field-effect transistor G8 to 0, 0, 0, 0, 1, 0, 0, 1 respectively (corresponding to the fourth voltage phase in Table 3). Then, the voltages at the four terminals Ah, At, Bh, and Bt are respectively zero, zero, positive, and negative. Figure 28 As shown, there is no current in phase A coil, and the current in phase B coil flows from end Bh to end Bt. At this time, the current in the second phase line flows in the positive direction, and the slot pole alignment is as follows. Figure 28 As shown in Figure (b).

[0064] like Figure 29 As shown, after a short period of rotation, the rotor magnetic ring reaches the steady-state position of the fourth voltage phase. At this time, the slot pole alignment is as follows: Figure 29 As shown in Figure (b).

[0065] S25. After an interval of one phase cycle, return to step S21; by repeatedly executing the above steps, the motor is controlled to run continuously.

[0066] At this point, one voltage control cycle is completed. After another phase cycle, the process returns to step S21. Repeating the above steps will allow the motor to continue rotating in the forward direction. The process of controlling the motor to rotate in the reverse direction corresponds to the periodic control of the MOSFET level according to the IO truth table shown in Table 4. The relevant process is similar to the above-described cyclic control flow and will not be described in detail here.

[0067] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An electric motor, characterized in that, The motor includes a stator yoke, stator teeth, rotor magnetic ring, rotor yoke, first phase line and second phase line; One end of the stator tooth column is connected to the stator yoke; the rotor magnetic ring is connected to the rotor magnetic yoke; the rotor magnetic ring and the stator magnetic yoke are coaxially arranged, and the rotor magnetic ring and the rotor magnetic yoke rotate around the central axis of the stator magnetic yoke; The rotor magnetic ring is composed of multiple rotor magnets arranged in an alternating N / S pole configuration, and the connection surface between the rotor magnets in the rotor magnetic ring is a skewed pole structure; the number of stator teeth is twice the number of rotor magnets. The first phase wire and the second phase wire are wound around the stator teeth at intervals; in the stator teeth wound by the first phase wire, the winding directions of adjacent stator teeth are opposite; in the stator teeth wound by the second phase wire, the winding directions of adjacent stator teeth are opposite.

2. The motor according to claim 1, characterized in that, The number of stator teeth and the number of rotor magnets are both even numbers, and the number is not less than 4.

3. The motor according to claim 1 or 2, characterized in that, The adjacent rotor magnets are connected by a stepped interlocking connection, a beveled connection, or a concave-convex interlocking connection.

4. The motor according to claim 3, characterized in that, The adjacent rotor magnets are connected by a concave-convex interlocking connection; one end of the rotor magnet is provided with an outward protrusion, and the other end is provided with a concave cavity that matches the protrusion.

5. The motor according to claim 4, characterized in that, The rotor magnetic ring is a permanent magnet ring composed of permanent magnets surrounding it.

6. The motor according to claim 5, characterized in that, The rotor magnetic ring is a magnetic ring composed of multiple excitation coil magnets; the ends of the wires wound on the excitation coil magnets are fixedly connected to the first slip ring and the second slip ring respectively, and the first slip ring and the second slip ring are slidably connected to the first brush and the second brush respectively.

7. The motor according to claim 6, characterized in that, The stator tooth column has a rotor cavity on its inner side, and the rotor magnetic ring is disposed in the rotor cavity and rotates around the axial direction.

8. The motor according to claim 6, characterized in that, The rotor magnetic ring is sleeved on the outer circumference of the stator tooth column, and the rotor magnetic ring rotates around the outer circumference of the stator tooth column.

9. A method for driving an electric motor, characterized in that, The driving method is applied to the motor according to any one of claims 1-8, and the driving method includes using a two-phase synchronous drive control process or a single-phase alternating drive control process to control the rotation of the motor; The two-phase synchronous drive control process includes: S11. Control the current in both the first phase line and the second phase line to flow in the positive direction; S12. After an interval of one phase cycle, adjust the current of the second phase line to flow in the reverse direction; S13. After a phase cycle, adjust the current of the first phase line to flow in the reverse direction. At this time, the currents of the first phase line and the second phase line flow in the reverse direction. S14. After an interval of one phase cycle, adjust the current of the second phase line to flow in the forward direction; S15. After an interval of one phase cycle, return to step S11; by repeatedly executing the above steps, the motor is controlled to run continuously.

10. The method for driving a motor according to claim 9, characterized in that, The single-phase alternating drive control process includes: S21. Control the current to flow in the first phase line in the forward direction and prevent the current to flow in the second phase line; S22. After an interval of one phase cycle, adjust the first phase line to have no current flowing through it and control the current in the second phase line to flow in the reverse direction. S23. After an interval of one phase cycle, adjust the current of the first phase line to flow in reverse, and no current flows through the second phase line; S24. After an interval of one phase cycle, adjust the first phase line to have no current flowing through it and control the current to flow in the second phase line in the positive direction. S25. After an interval of one phase cycle, return to step S21; by repeatedly executing the above steps, the motor is controlled to run continuously.

Images