Dual-redundancy three-phase permanent magnet synchronous motor for directly driving servo valve through rotation of slide valve

Abstract

The utility model belongs to the field of high-end hydraulic elements, and relates to a dual-redundancy three-phase permanent magnet synchronous motor for directly driving a servo valve through rotation of a slide valve. The synchronous motor comprises a motor dual-redundancy stator, a motor iron core winding, a dual-redundancy rotor with a tail eccentric structure, a valve body matching structure integrating heat dissipation and positioning functions, a sleeve, a clamping groove and a chip type magnetic resistance sensor. The exterior of the motor sleeve penetrates through the motor dual-redundancy stator to form a matching relation with the motor dual-redundancy stator, and the interior of the motor sleeve penetrates through the rotor to form a matching relation with the dual-redundancy rotor with a tail eccentric structure; an output shaft of the motor penetrates through the motor dual-redundancy stator, and surface-mounted magnetic steel on the surface of the output shaft forms a magnetic field and forms an alternating magnetic field hinge through an air gap and a stator winding. The upper end of the output shaft is axially limited by a sleeve reversely buckled on the output shaft, and the lower end of the output shaft is matched with a bearing to form an axial clearance compensation structure to realize axial positioning.

Description

Technical Field

[0001] The utility model belongs to the field of high-end hydraulic components and relates to a double-redundant three-phase permanent magnet synchronous motor which directly drives a servo valve by rotating a slide valve. Background Art

[0002] The direct-drive electro-hydraulic servo valve is a control-type hydraulic component, and its performance directly affects the performance and reliability of the hydraulic system in which it is located. Among them, the digital slide valve rotary direct-drive electro-hydraulic servo valve (slide valve RDDV) constructs a valve core motion mechanism through an eccentric shaft motion mechanism to achieve flow or pressure output corresponding to the input command signal. It has the advantages of high integration, small size, and fast dynamic response. It has been widely used in aerospace, robotics, and high-end industrial equipment. This type of servo valve uses a high-performance motor drive on the basis of maintaining many advantages of the direct-drive servo valve, which is one of the important guarantees for its small size and high frequency response. Among them, permanent magnet synchronous AC motors are widely used. The magnetic poles of permanent magnet synchronous motors are mostly made of high-performance rare earth permanent magnet materials, which have high magnetic properties, greatly improve the magnetic load of the motor, and increase the output torque of the motor. It also has the characteristics of compact structure, high power-to-weight ratio, large overload current, high efficiency, and large output force. However, the traditional digital slide valve RDDV electrical module does not adopt a redundancy design scheme, and there are certain defects in product reliability. Electrical module failure is also one of the main failure forms of this type of servo valve. Failure of the electrical module will cause faults such as input current errors, seriously affecting the stability of the hydraulic system where the servo valve is located. Utility Model Content

[0003] The purpose of the utility model is to develop a dual-redundancy three-phase permanent magnet synchronous motor for a high-reliability, digitally integrated, slide-valve rotary direct-drive electro-hydraulic servo valve. It not only ensures the advantages of compact structure, high power-to-weight ratio, and rapid dynamic response of the whole valve, but also ensures the advantages of large overload current, high efficiency, and large output force of the original valve motor. On these basis, the redundancy expansion of the electrical system of this type of valve is achieved, its reliability and working stability are improved, and the miniaturization design requirements of the valve body are guaranteed through the integrated structural design at the motor level.

[0004] Technical solution:

[0005] Provided is a double-redundant three-phase permanent magnet synchronous motor for directly driving a servo valve by rotating a sliding valve, comprising: a double-redundant stator of the motor, a motor core winding, a double-redundant rotor with a tail eccentric structure, a valve body matching structure with integrated heat dissipation and positioning functions, a sleeve, a card slot and a chip-type magnetic resistance sensor;

[0006] The outside of the motor sleeve passes through the double-redundant stator of the motor, forming a matching relationship with the double-redundant stator of the motor, and the inside passes through the rotor to form a matching relationship with the double-redundant rotor with a tail eccentric structure; the output shaft of the motor passes through the double-redundant stator of the motor, and the surface-mounted magnetic steel on the surface of the output shaft forms a magnetic field that passes through the air gap and the stator winding to form an alternating magnetic field. The upper end of the output shaft is axially limited by a sleeve inverted thereon, and the lower end forms an axial gap compensation structure with the bearing to achieve axial positioning.

[0007] There is an eccentric structure in the middle section of the output shaft, and it forms a needle roller inline bearing type column-column matching relationship with the integrated valve core of the transmission mechanism; when the motor rotates, the rotation of the motor is converted into the translational motion of the valve core through these structures.

[0008] Two sets of windings are placed in the double-redundant rotor slots at the same time, and the windings are arranged according to the staggered concentrated winding arrangement scheme. Each set of three-phase windings adopts a Y-connection form, which ensures the multi-working mode characteristics of the motor.

[0009] The two sets of windings have a phase difference of 30°, and the pole-slot combination is 10 poles and 12 slots.

[0010] The motor working modes include main-main working mode and main-standby working mode. When working, it is driven by the pulse width modulation PWM output by the integrated controller to generate the torque required by the system.

[0011] Under normal working conditions, the A1-B1-C1 winding is energized when the main-standby working mode is started, and the A2-B2-C2 winding is not energized;

[0012] When the above channels fail, the standby channel working mode is started, that is, the A2-B2-C2 windings are energized;

[0013] If there is a large torque demand, the two sets of windings are energized at the same time, the torque increases, and the controller performs self-check and controls the execution of the above process.

[0014] An integrated heat dissipation structure is arranged at the heat concentration position of the servo valve.

[0015] A patch-type permanent magnet is placed in the closed structure at the top of the output shaft and the bearing connection. The permanent magnet is used as an induction magnet, and together with the reluctance induction element of the controller above it and the full-bridge structure they form, forms a control loop for the motor.

[0016] The double-redundant rotor is a double-redundant surface-mounted rotor.

[0017] The output shaft is a double-redundant surface-mounted output shaft with a tail eccentric structure.

[0018] Beneficial effects:

[0019] The dual-redundancy three-phase permanent magnet synchronous motor has a high power-to-weight ratio, fast response speed, and large output torque. It adopts two sets of stator windings to build itself, with independent electrical characteristics, which improves its operating reliability while retaining the original advantages. For the slide valve RDDV, the utility model improves the reliability of the traditional integrated slide valve RDDV. The motor-related and valve body matching structure adopts an integrated design, and the overall structure is compact, small in size, and light in weight. Compared with the dual-redundancy solution of the dual motor, the improved design at the motor level in the utility model is smaller in size and weight, ensuring the miniaturization design requirements of the entire valve. The stepped structure design and integrated sleeve design at the top of the motor shaft ensure the installation space of the patch-type induction magnet, and together with the controller at the top, constitute the key link of the entire valve control loop, which can realize the controller's status monitoring of the motor. The motor and its upper components are beneficially used in cutting-edge technology verification, robotics, and high-end industries in aerospace. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a cross-sectional view of the motor of the utility model;

[0021] Figure 2 It is a three-dimensional appearance diagram of the motor of the utility model;

[0022] Figure 3 It is a three-dimensional appearance diagram of the valve body of the utility model;

[0023] Figure 4 It is a wiring diagram of the double-redundancy winding solution of the utility model;

[0024] Figure 5 It is a schematic diagram of the double redundant winding solution of the motor of the utility model;

[0025] Figure 6 This is the heat dissipation structure diagram of the motor of the utility model;

[0026] Figure 7 This is the electromagnetic induction structure diagram of the motor of this utility model.

[0027] In the figure: 1-output shaft, 2-motor double-redundant stator, 3-permanent magnet, 4-sleeve, 5-induction magnet, 6-bearing, 7-magnetic resistance sensor, 8-bearing digital controller. DETAILED DESCRIPTION

[0028] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0029] The utility model provides a double-redundant three-phase permanent magnet synchronous motor for an integrated slide valve RDDV, which is a servo motor and includes: an output shaft 1, a motor double-redundant stator 2, a permanent magnet magnetic steel 3, a sleeve 4, an induction magnetic steel 5, a bearing 6, a magnetoresistive sensor 7, and a bearing digital controller 8.

[0030] The motor comprises: a motor double-redundant stator 2, a motor core winding, a double-redundant rotor with a tail eccentric structure, a valve body matching structure with integrated heat dissipation-positioning function, a sleeve 4, a card slot and a chip-type magnetic resistance sensor.

[0031] The stator of the double-redundant motor is designed with slots according to the redundancy expansion requirements of the electrical system to form a dual three-phase winding scheme. The motor is driven by pulse width modulation (PWM). Alternating current is passed through the three-phase winding to form a control magnetic field that is hinged with the magnetic field formed by the permanent magnet. After the controller issues a motion-related instruction, it rotates a given angle to drive the valve core to move. The outer surface of the sleeve matches the inner surface of the motor stator and forms an air gap in the sleeve, which constitutes a double-redundant electrical system with the magnetic circuit. The proposed motor has a main-main working mode and a main-standby working mode. In the main-main working mode, the torque enhancement effect is achieved, reliable shear force is provided for the valve core movement, and the system is guaranteed to have good dynamic characteristics. In the main-standby working mode, the standby system plays a backup role, which improves the reliability of the motor (the whole valve electrical module). The double-redundant surface-mounted rotor with a tail eccentric structure includes a tail eccentric rotor and a label-type high-performance rare earth permanent magnet. The permanent magnet provides excitation, generates a magnetic field that is hinged with the winding magnetic field, and can avoid the excitation loss caused by the magnetic field generated by the excitation current. The eccentric structure in the middle of the rotor forms a matching relationship with the special curved surface of the valve core, realizing the transformation from rotation to translation; the valve body matching structure adopts an integrated design scheme with the valve body, including the shell heat dissipation structure, axial positioning structure and axial positioning compensation structure under extreme large current, respectively realizing heat dissipation, positioning function and positioning compensation function: the heat dissipation function is mainly realized by the heat sink designed in an integrated manner with the valve body; the axial positioning function is mainly realized by the matching relationship between the upper and lower end bearings and the motor shaft and the positioning relationship between the stator, rotor and sleeve; the axial positioning compensation function is mainly realized by the pulley, which mainly compensates for the axial clearance caused by installation. The surface induction magnet is integrated into the permanent magnet synchronous motor, and the stepped design of the rotor tail end forms an induction magnet placement space. The induction magnet is attached to the top of the motor shaft and placed in the above space, forming an important link in the control loop with the controller above, which can realize the monitoring of the motor movement state and realize motor self-inspection.

[0032] In view of the fact that the electrical system of the traditional digital integrated slide valve directly drives the servo valve and is prone to failure, a dual-redundancy permanent magnet synchronous motor has been developed to achieve the redundancy expansion of the traditional RDDV electrical system, and improve the reliability and working stability. From the motor design level alone, that is, the pole-slot matching relationship and the dual three-phase winding scheme (the redundancy-oriented staggered concentrated winding arrangement scheme), the dual redundancy characteristics of the motor are realized, rather than adopting a multi-motor backup system design, which effectively reduces the volume and weight of the entire valve. The motor has a multi-working mode characteristic: main-main working mode and main-backup working mode. Among them, the main-backup working mode ensures the electrical redundancy characteristics. When a single system is working, the other system is in a backup working state, which effectively improves the operating reliability of the entire valve. The main-main working mode can increase the output torque to a certain extent, expand its output torque range, and provide the shear force required for reliable valve core movement. In addition, the AC servo motor has the advantage of fast response speed.

[0033] A relatively complete axial positioning system is adopted for the integrated slide valve rotary direct drive servo valve. The upper and lower ends of the permanent magnet synchronous motor output shaft form a clearance fit with the bearing respectively, and are fixed by the mounting hole structure in the valve body, which can realize the positioning function under the premise of compact structure. A wave spring is used to adjust the axial clearance formed by the installation, forming an axial clearance compensation function.

[0034] In order to solve the heat dissipation problem of the motor winding during operation, heat sinks are set at the concentrated heat points and the valve body-heat sink integrated design is adopted, which ensures the heat dissipation efficiency on the one hand and has a compact structure and greatly reduces the volume on the other hand.

[0035] The tail end of the motor drive shaft adopts a stepped structure design, which ensures the matching relationship with the bearing while ensuring the placement space of the induction magnet. Facing the motor self-checking mechanism, the surface-mounted magnet and the magnetoresistive sensor above the motor form an important part of the direct-drive valve control loop. The structure is compact and meets the requirements of integrated design. And it forms a control loop with the sensor induction chip integrated inside the controller, with high measurement accuracy and no loss.

[0036] The integrated motor sleeve structure is adopted, which firstly ensures the sealing function. The inner wall of the sleeve is in direct contact with the oil, and the outer surface is in contact with the valve body controller placement cavity. In addition, the air gap size between the motor stator and rotor is ensured, and the positioning of the motor stator and rotor is played, with the inner and rotor forming a matching relationship, and the outer and stator forming a matching relationship.

[0037] The stator slot design sets a slot on the stator surface to limit the axial rotation of the stator. The corresponding valve body has a limit structure.

[0038] like Figure 1-3As shown, the motor includes: a motor double-redundant stator, a motor core winding, a double-redundant surface-mounted rotor with a tail eccentric structure, a valve body matching structure with integrated heat dissipation and positioning functions, a sleeve, a card slot and a chip-type magnetic resistance sensor;

[0039] The motor sleeve passes through the stator on the outside and forms a matching relationship with the stator, and passes through the rotor on the inside and forms a matching relationship with the rotor. The transmission shaft of the motor is a double-redundant surface-mounted output shaft with a tail eccentric structure. The double-redundant surface-mounted output shaft with a tail eccentric structure passes through the motor stator. The surface-mounted magnetic steel on the surface of the output shaft forms a magnetic field that passes through the air gap and the stator winding to form an alternating magnetic field. The upper end of the rotating shaft is axially limited by the sleeve on it, and the lower end forms an axial gap compensation structure with the bearing to achieve axial positioning. There is an eccentric structure in the middle section, and it forms a needle roller inline bearing column-column matching relationship with the integrated valve core of the transmission mechanism. When the motor rotates, the rotation of the motor is converted into the translational motion of the valve core through these structures.

[0040] Two sets of windings are placed in the motor rotor slots at the same time, and the windings are arranged according to the staggered concentrated winding arrangement scheme. Each set of three-phase windings adopts the Y connection form, which ensures the multi-working mode characteristics of the motor. Figure 4-5 As shown, the two sets of windings have a phase difference of 30°, and the pole-slot combination is 10 poles and 12 slots, which ensures the offset of unilateral magnetic pull while achieving the redundancy expansion of the valve electrical system. The motor has two working modes: main-main working mode and main-standby working mode. When working, it is driven by the (pulse width modulation) PWM output by the integrated controller to generate the torque required by the system. Figure 4-5 As shown, under normal working conditions, the main-backup working mode is started, the A1-B1-C1 winding is energized, and the A2-B2-C2 winding is not energized; when the above channel fails, the backup channel working mode is started, that is, the A2-B2-C2 winding is energized; if there is a large torque demand, the two sets of windings are energized at the same time, the torque increases, and the controller performs self-check and controls the execution of the above process.

[0041] Due to the integrated design requirements of the entire valve of this type, the supporting mechanism of the motor also adopts an integrated design solution, including the heat dissipation function structure of the motor.

[0042] Heat dissipation structure such as Figure 6 As shown, a traditional heat sink structure is arranged at the heat concentration position to increase the transmission area to achieve heat dissipation. The heat dissipation function structure is integrated with the servo valve body to ensure the basic motor heat dissipation needs while meeting the integrated design requirements.

[0043] Motor electromagnetic induction element and matching structure for motor self-test Figure 7As shown in the figure, the top of the motor output shaft adopts a stepped design to match the bearing. This forms a closed structure to place the patch permanent magnet, which is used as an induction magnet. The full-bridge structure composed of the magnetoresistive induction element of the controller above it forms the control loop of the motor. The sensor monitors the action of the motor by inducing the change of the magnetic field of the induction magnet caused by the rotation of the induction magnet.

Claims

1. A double-redundant three-phase permanent magnet synchronous motor for directly driving a servo valve by rotating a slide valve, characterized in that: include: Motor double-redundant stator, motor core winding, double-redundant rotor with tail eccentric structure, valve body matching structure with integrated heat dissipation-positioning function, sleeve, card slot and chip-type magnetic resistance sensor; The outside of the motor sleeve passes through the double-redundant stator of the motor, forming a matching relationship with the double-redundant stator of the motor, and the inside passes through the rotor to form a matching relationship with the double-redundant rotor with a tail eccentric structure; the output shaft of the motor passes through the double-redundant stator of the motor, and the surface-mounted magnetic steel on the surface of the output shaft forms a magnetic field that passes through the air gap and the stator winding to form an alternating magnetic field. The upper end of the output shaft is axially limited by a sleeve inverted thereon, and the lower end forms an axial gap compensation structure with the bearing to achieve axial positioning.

2. The synchronous motor according to claim 1, characterized in that: There is an eccentric structure in the middle section of the output shaft, and it forms a needle roller inline bearing type column-column matching relationship with the integrated valve core of the transmission mechanism; when the motor rotates, the rotation of the motor is converted into the translational motion of the valve core through these structures.

3. The synchronous motor according to claim 1, characterized in that: Two sets of windings are placed in the double-redundant rotor slots at the same time, and the windings are arranged according to the staggered concentrated winding arrangement scheme. Each set of three-phase windings adopts a Y-connection form, which ensures the multi-working mode characteristics of the motor.

4. The synchronous motor according to claim 3, characterized in that: The two sets of windings have a phase difference of 30°, and the pole-slot combination is 10 poles and 12 slots.

5. The synchronous motor according to claim 4, characterized in that: The motor working modes include main-main working mode and main-standby working mode. When working, it is driven by the pulse width modulation PWM output by the integrated controller to generate the torque required by the system. Under normal working conditions, the A1-B1-C1 winding is energized when the main-standby working mode is started, and the A2-B2-C2 winding is not energized; When a channel fails, the standby channel working mode is started, that is, the A2-B2-C2 windings are energized; If there is a large torque demand, the two sets of windings are energized at the same time, the torque increases, and the controller performs self-check and controls the execution of the above process.

6. The synchronous motor according to claim 1, characterized in that: An integrated heat dissipation structure is provided at the heat concentration position of the servo valve.

7. The synchronous motor according to claim 1, characterized in that: A patch-type permanent magnet is placed in the closed structure at the top of the output shaft and the bearing connection. The permanent magnet is used as an induction magnet, and together with the reluctance induction element of the controller above it and the full-bridge structure they form, forms a control loop for the motor.

8. The synchronous motor according to claim 1, characterized in that: The double-redundant rotor is a double-redundant surface-mounted rotor.

9. The synchronous motor according to claim 1, characterized in that: The output shaft is a double-redundant surface-mounted output shaft with a tail eccentric structure.

Images