CN106887908B - A stator, motor, motor and control equipment and equipment - Google Patents
A stator, motor, motor and control equipment and equipment Download PDFInfo
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- CN106887908B CN106887908B CN201611008588.0A CN201611008588A CN106887908B CN 106887908 B CN106887908 B CN 106887908B CN 201611008588 A CN201611008588 A CN 201611008588A CN 106887908 B CN106887908 B CN 106887908B
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- 238000004804 winding Methods 0.000 claims abstract description 201
- 238000003860 storage Methods 0.000 claims description 27
- 230000005611 electricity Effects 0.000 claims description 8
- 101150029220 Tprg1l gene Proteins 0.000 description 160
- 238000000034 method Methods 0.000 description 13
- 230000006870 function Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 7
- 230000004907 flux Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000008450 motivation Effects 0.000 description 5
- 239000011159 matrix material Substances 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 229910000976 Electrical steel Inorganic materials 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 239000003990 capacitor Substances 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 239000012141 concentrate Substances 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
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- 230000001965 increasing effect Effects 0.000 description 2
- 230000001939 inductive effect Effects 0.000 description 2
- 239000000696 magnetic material Substances 0.000 description 2
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- 238000004458 analytical method Methods 0.000 description 1
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- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012067 mathematical method Methods 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K16/00—Machines with more than one rotor or stator
- H02K16/02—Machines with one stator and two or more rotors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
- H02K3/28—Layout of windings or of connections between windings
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
- H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
- Linear Motors (AREA)
Abstract
本发明提供一种定子，包括定子芯、设置在定子芯上的多相绕组，所述定子芯包括：至少一个第一导磁部、至少一个第二导磁部；所述至少一个第一导磁部和所述至少一个第二导磁部间隔排列，至少部分相邻接的所述第一导磁部和所述第二导磁部的抵接边分别设置共同的绕组。本发明还提供相应的电机、电动机及控制设备、设备。采用本发明的定子，通过将定子分成两个导磁部，通过共用多相绕组分别控制两个导磁部，可以实现通过一个相对小体积和质量的定子对多个动子灵活控制的目的。
The present invention provides a stator, including a stator core and a multi-phase winding arranged on the stator core, wherein the stator core includes: at least one first magnetic conductive part and at least one second magnetic conductive part; the at least one first magnetic conductive part and the at least one second magnetic conductive part are arranged at intervals, and at least part of the abutting edges of the first magnetic conductive part and the second magnetic conductive part that are adjacent to each other are respectively provided with a common winding. The present invention also provides corresponding motors, electric motors, and control devices and equipment. By adopting the stator of the present invention, by dividing the stator into two magnetic conductive parts and controlling the two magnetic conductive parts respectively by sharing a multi-phase winding, the purpose of flexibly controlling multiple movers by a stator of relatively small volume and mass can be achieved.
Description
Technical field
The present invention relates to technical field of motors, and in particular to a kind of stator, motor, motor and control equipment, equipment.
Background technique
Improvement and industrial expansion with motor the relevant technologies, also increasingly to the existing industrial design requirements of motor
Height, in motor device, it usually needs use more Structure of mover to meet different needs, in existing patent document, such as apply
Number: described by US201113306048, stator uses double winding structure, and the winding inside and outside the stator controls respectively
The rotation of two sides mover, so as to realize the effect for forming two motors in the same motor.But above-mentioned electric machine structure,
Although can be controlled separately two movers, the two sides of motor stator require setting winding, to cause motor from body
Product, quality are big, are unfavorable for realizing high torque density.
In the patent document CN105529888 of an other double acting minor structure, two movers share stator it is same around
Group, but the motor can not achieve the flexible control of two movers, can not achieve and forms two motors in the same motor
Effect.
Summary of the invention
The present invention is to solve the above problems, provide a kind of stator, motor, motor and control equipment, equipment, by divided stator
At two magnetic-conductance portions, two magnetic-conductance portions are controlled respectively by sharing polyphase windings, therefore may be implemented through an opposite corpusculum
The purpose that long-pending and quality stator flexibly controls multiple movers.
First aspect present invention provides a kind of stator, described fixed including stator core, the polyphase windings being arranged on stator core
Sub- core includes: at least one first magnetic-conductance portion, at least one second magnetic-conductance portion；First magnetic-conductance portion and second magnetic-conductance portion
It is alternatively arranged, the abutting side of at least partly adjacent first magnetic-conductance portion and second magnetic-conductance portion is respectively set common
Winding.
Further, first magnetic-conductance portion and second magnetic-conductance portion are alternatively arranged, comprising:
Each described first magnetic-conductance portion and each described second magnetic-conductance portion spaced-apart relation；Or
It is alternatively arranged every multiple first magnetic-conductance portions or multiple second magnetic-conductance portions.
Further, the abutting side setting of at least partly adjacent first magnetic-conductance portion and second magnetic-conductance portion
Common winding, comprising:
Common winding is arranged in the abutting side of each adjacent first magnetic-conductance portion and the second magnetic-conductance portion；Or
Common winding is arranged in the abutting side of adjacent first magnetic-conductance portion in part and the second magnetic-conductance portion.
Further, it is alternatively arranged according to first magnetic-conductance portion and second magnetic-conductance portion, at least partly adjacent institute
The abutting side for stating the first magnetic-conductance portion and second magnetic-conductance portion is arranged the mode of common winding, acquisition it is described at least one
Electric current that the winding for actually including in one magnetic-conductance portion and at least one described second magnetic-conductance portion passes through and it is described it is each it is common around
The relational expression for the electric current that group passes through.
Further, when each described first magnetic-conductance portion and each described second magnetic-conductance portion spaced-apart relation, and it is every
The abutting side of a adjacent first magnetic-conductance portion and the second magnetic-conductance portion is arranged common winding, the acquisition it is described at least
Electric current that the winding for actually including in one the first magnetic-conductance portion and at least one described second magnetic-conductance portion passes through and described each total
With the winding relational expression that passes through electric current include:
If the electric current of each common winding input is L (1), L (2), L (3) ... ... .L (2K)；Control described first
The electric current of magnetic-conductance portion is U (1), and U (2), U (3) ... ..U (K), the electric current for controlling second magnetic-conductance portion is V (1), V (2), V
(3).....V(K)；Form following relational expression:
U (1)=L (1)+L (2), U (2)=L (3)+L (4) ..., U (K)=L (2K-1)+L (2K)
V (1)=V (2)+V (3), V (2)=V (4)+V (5) ..., V (K)=L (2K)+L (1).
Further, first magnetic-conductance portion and second magnetic-conductance portion are mutual inverted first U-shaped structure and the second U-shaped
The chimb of structure, first U-shaped structure and second U-shaped structure abutted against is the abutting side.
Second aspect of the present invention provides a kind of motor, and the motor includes at least one such as any one of first aspect institute
The stator stated, the motor further include: at least one first mover, at least one second mover；
First mover and second mover are separately positioned on the two sides of the stator, and first mover corresponds to institute
State at least one first magnetic-conductance portion, at least one corresponding described second magnetic-conductance portion of second mover；
Further, first mover and second mover connect same output end altogether, to increase the torque of output.
Third aspect present invention also provides a kind of motor, and the motor includes at least one as any in first aspect
Stator described in one, the motor further include: at least one first mover, at least one second mover, at least one brake
Vehicle unit；
First mover and the second mover are separately positioned on the two sides of the stator, and the first mover correspondence is described extremely
Few first magnetic-conductance portion, at least one corresponding described second magnetic-conductance portion of second mover；
First mover drives the brake units to complete the braking to second mover.
Further, the motor further includes that an at least electrical storage device and its control unit, the electrical storage device passes through institute
The control for stating control unit is electrically connected the polyphase windings.
Fourth aspect present invention provides a kind of motor as described in second aspect any one or third aspect any one
The control equipment of the motor, including for controlling the control device for distributing the electric current of the polyphase windings, according to described
First magnetic-conductance portion and second magnetic-conductance portion are alternatively arranged, and at least partly adjacent first magnetic-conductance portion and described second is led
The abutting side in magnetic portion is arranged the mode of common winding, obtain at least one described first magnetic-conductance portion and it is described at least one second
The electric current and each common winding that the winding for actually including in magnetic-conductance portion passes through are by the relational expression of electric current, to obtain
The electric current that each phase winding passes through.
Further, the control device includes: storage unit, processor, input unit；
The storage unit is alternatively arranged for storing according to first magnetic-conductance portion and second magnetic-conductance portion, at least
The mode of common winding is arranged in the abutting side of adjacent first magnetic-conductance portion in part and second magnetic-conductance portion, acquisition
The electric current and institute that the winding for actually including at least one described first magnetic-conductance portion and at least one described second magnetic-conductance portion passes through
State the relational expression that each common winding passes through electric current；
The input unit, the torque for needing to export for inputting first mover and second mover, is sent to
The processor；
The processor includes: the first computing unit, the second computing unit；
First computing unit, the torsion for needing to export according to first mover and second mover that receive
Square calculates the current value that the winding for actually including in first magnetic-conductance portion and second magnetic-conductance portion passes through, and by the electric current
Value is sent to second computing unit；
Second computing unit, for being passed through according to practical winding in first magnetic-conductance portion and second magnetic-conductance portion
Current value and at least one described first magnetic-conductance portion and at least one described second magnetic-conductance portion on actually include winding it is logical
The electric current and each common winding crossed obtain the electric current of each common winding by the relational expression of electric current.
Fifth aspect present invention also provides a kind of equipment, and the equipment includes such as any one of second aspect of the present invention institute
The motor stated.
Sixth aspect present invention also provides a kind of equipment, and the equipment includes such as any one of third aspect present invention institute
The motor stated, the equipment include the robot that the motor directly drives.
Therefore the embodiment of the present invention provides a kind of stator, and stator is divided into two magnetic-conductance portions, by sharing around component
It Kong Zhi not two magnetic-conductance portions.Achieve following technical effect:
1, since the stator core includes: at least one first magnetic-conductance portion, at least one second magnetic-conductance portion, described first is led
Magnetic portion and second magnetic-conductance portion are alternatively arranged, at least partly adjacent first magnetic-conductance portion and second magnetic-conductance portion
Abut side common winding is set so that at least partly the first magnetic-conductance portion or the second magnetic-conductance portion actually include two together about
Group, since each common winding is polyphase windings, when being controlled respectively together about group two, so that it may realize to first
The control respectively of magnetic-conductance portion or the second magnetic-conductance portion, therefore may be implemented through the stator of a relatively smaller volume and quality to multiple
The purpose that mover flexibly controls.
2, due to being alternatively arranged using each first magnetic-conductance portion and the second magnetic-conductance portion, can utmostly save around
Group.
3, since first magnetic-conductance portion and second magnetic-conductance portion are mutual inverted first U-shaped structure and the second U-shaped
The chimb of structure, first U-shaped structure and second U-shaped structure abutted against is the abutting side, using this shape
The first magnetic-conductance portion and the second magnetic-conductance portion can either preferably concentrate the magnetic line of force passed through in magnetic-conductance portion to increase magnetic torque, simultaneously
It can preferably facilitate the first and second magnetic-conductance portions to be formed and abut side, to realize the large torque of the first magnetic-conductance portion and the second magnetic-conductance portion
Asynchronous control.
4, since the motor is in addition to including the stator, further includes: at least one first mover, at least one is second dynamic
Son, first mover correspond to first magnetic-conductance portion, and second mover corresponds to second magnetic-conductance portion, described control unit
The electric current of distribution current input terminal is configured as to the common winding, to control first magnetic-conductance portion and described second respectively
Magnetic-conductance portion to control the movement of the first mover and the second mover respectively, therefore may be implemented in a relatively smaller volume and matter
The purpose that two movers are flexibly controlled in the motor of amount.
5, since the first mover of the motor and the second mover connect same output end altogether, the torsion of output can be increased
Square.
6, due to being alternatively arranged according to first magnetic-conductance portion and second magnetic-conductance portion, at least partly adjacent is described
Common winding, at least one described first magnetic-conductance portion of acquisition is arranged in the abutting side of first magnetic-conductance portion and second magnetic-conductance portion
The electric current and each common winding passed through with the winding for actually including at least one described second magnetic-conductance portion passes through electricity
The relational expression of stream, therefore can know the electric current of each common winding.
7, due to setting the electric current of each common winding input as L (1), L (2), L (3) ... ... .L (2K)；Control institute
The electric current for stating the first magnetic-conductance portion is U (1), and U (2), U (3) ... ..U (K), the electric current for controlling second magnetic-conductance portion is V (1), V
(2),V(3).....V(K)；Form following relational expression:
U (1)=L (1)+L (2), U (2)=L (3)+L (4) ..., U (K)=L (2K-1)+L (2K)
V (1)=V (2)+V (3), V (2)=V (4)+V (5) ..., V (K)=L (2K)+L (1)；
The permanent magnetic clutch generated is needed to go out U (1) according to first magnetic-conductance portion and second magnetic conduction, U (2), U
(3) ... ..U (K) and V (1), V (2), V (3) ... ..V (K) are found out L (1) further according to the relational expression, L (2), L
(3)..........L(2K)。
Therefore, by methods described above may be implemented the electric current by distributing current input terminal to it is described together about
Group, to control the purpose of first magnetic-conductance portion and second magnetic conduction respectively.
8, due to using motor of the present invention, stator can be divided into two magnetic-conductance portions, by sharing winding difference
Two magnetic-conductance portions are controlled, and then control two movers respectively, and the actuator due to one of mover as brake units, because
This may be implemented to realize there is brake in the motor of small a volume and quality.
9, since a motor at least electrical storage device, the electrical storage device are controlled by described control unit, pass through electricity
Line connects winding so that after electric motor circuit breaking, electrical storage device pass through can be at least motor the first mover continue to provide it is short
Temporary electric current supply, so that the first mover completes the braking to the second mover；After being once again powered up, control unit control is first
It charging to electrical storage device, electrical storage device first passes through control unit distribution electric current to the first mover, the braking to the second mover is released,
Then just start the rotation of the second mover.
10, since the control equipment includes filling for distributing the electric current of current input terminal to the control of the polyphase windings
It sets, therefore the control device is alternatively arranged according to first magnetic-conductance portion and second magnetic-conductance portion, it is at least partly adjacent
First magnetic-conductance portion and the abutting side of second magnetic-conductance portion mode of common winding is set, obtain it is described at least one
The electric current and each common winding that first magnetic-conductance portion and at least one described second magnetic-conductance portion actual needs pass through pass through
The relational expression of electric current, to obtain the current value that the polyphase windings pass through.
11, since the motor may be implemented in the motor of a relatively smaller volume and quality to the control of two movers
Purpose, therefore any required equipment that double control is realized in same motor can be adapted for using such motor.
12, since the function for realizing brake in the motor of a relatively smaller volume and quality may be implemented in the motor
Can, therefore in the industrial robot that is directly driven especially suitable for motor of the motor.
Detailed description of the invention
Technical solution in order to illustrate the embodiments of the present invention more clearly, below will be to institute in embodiment and description of the prior art
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is that a kind of simple structure for applying the stator in linear motor provided in an embodiment of the present invention overlooks signal
Figure；
Fig. 2 is the top view of apply the stator in linear motor three embodiment provided in an embodiment of the present invention；
Fig. 3 is the accompanying drawings provided in an embodiment of the present invention for applying the stator in rotating electric machine；
The knot of the various embodiments of different shapes of first and second magnetic-conductance portions of Fig. 4 stator provided in an embodiment of the present invention
The simple schematic top plan view of structure；
Fig. 5 is the schematic top plan view of stator in a kind of preferred linear motor described in the embodiment of the present invention；
Fig. 6 is a kind of schematic top plan view of the stator of preferred rotating electric machine described in the embodiment of the present invention；
Fig. 7 is the schematic top plan view of stator in the preferred linear motor of another kind described in the embodiment of the present invention；
Fig. 8 is the overlooking structure diagram that stator provided in an embodiment of the present invention corresponds to motor；
Fig. 9 is the first and second Structure of mover provided in an embodiment of the present invention and corresponding first and second magnetic-conductance portions structure
The top view of different motor；
Figure 10 is a kind of structural schematic diagram of the motor with brake function provided in an embodiment of the present invention.
Figure 11 A-11B is a kind of structural block diagram for controlling equipment provided in an embodiment of the present invention.
Specific embodiment
In order to make those skilled in the art more fully understand the present invention program, below in conjunction with attached in the embodiment of the present invention
Figure, technical scheme in the embodiment of the invention is clearly and completely described.Obviously, described embodiment is only this
The embodiment of a part is invented, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
All other embodiment obtained without making creative work, should fall within the scope of the present invention.
Embodiment one,
Stator is an indispensable important component in motor, since stator is not moved with respect to mover, therefore referred to as stator,
There are gaps in motor, between stator and mover to form magnetic gap, according to inductive reaction principle, matches between stator and mover
Close the movement for realizing mover.
Motor of the present invention can (motor can wrap including converting electric energy to the motor that kinetic energy exports
It includes: the linear motor of the electric rotating motivation of rotary motion, linear motion)；It also may include converting the kinetic energy into electrical energy output
Generator.Therebetween it can be realized in some cases using same structure, by being used not to identical structure
Same mode electrically and mechanically, to realize the function of generator or motor respectively.
Stator generally includes: stator core, the polyphase windings being arranged on stator core.
Stator core can be made of various magnetic materials, such as: the silicon steel sheet of superposition, iron powder etc..
It should be noted that every phase winding may include 1 winding, it also may include multiple windings；With 6 phase, 12 windings
For (as shown in Figure 6), every 2 opposite windings be a phase, therefore each phase winding in include 2 windings.The multiphase around
Group is electrically connected control equipment, control signal is issued by control equipment, to distribute from the current output terminal (current output terminal
Can be the output end of power supply, battery, capacitor etc.) electric current of output is to each phase winding.It should be noted that can each phase
Winding couples a control equipment respectively, is respectively controlled；Or each phase winding coupled in common one controls equipment, is controlled by one
Equipment uniformly carries out control distribution.
Improvement and industrial expansion with motor the relevant technologies, it is also higher and higher to the industrial design requirements of motor,
In certain motor devices, it usually needs meet different needs using more Structure of mover in same motor.But such as background technique
Described in, stator structure used by the existing motor to realize more Structure of mover is usually two kinds, and one is corresponding on stator
One group of winding is respectively set in each mover, to cause motor own vol, quality big, is unfavorable for realizing high torque density；
Another kind is the same group of polyphase windings that more movers share stator, but the motor can only uniformly control multiple movers,
It can not achieve the effect that two motors are formed in the same motor.
To solve the above problems, the present invention provides a kind of stator, it is more by sharing by the way that stator is divided into two magnetic-conductance portions
Phase winding controls two magnetic-conductance portions respectively, therefore may be implemented through the stator of a relatively smaller volume and quality to multiple movers
The purpose flexibly controlled.The program is further described with reference to the accompanying drawing.
Fig. 1 is that a kind of simple structure for applying the stator in linear motor provided in an embodiment of the present invention overlooks signal
Figure.Fig. 2 is the top view of apply the stator in linear motor four embodiment provided in an embodiment of the present invention.Fig. 3 is this
The accompanying drawings for applying the stator in rotating electric machine that inventive embodiments provide, wherein top is top view, lower section 2
The side view of a nanostator embodiment.
As shown in Figure 1, the structure of stator is further described by taking linear motor as an example.The stator of the stator 10
Core includes: at least one first magnetic-conductance portion A1-An, at least one second magnetic-conductance portion B1-Bm., first magnetic-conductance portion and second
The number of magnetic-conductance portion can be any more than or equal to 1, the number of the first magnetic-conductance portion and the second magnetic-conductance portion can it is equal can also
To differ, in the embodiment in figure 1, the first magnetic-conductance portion A1-An is 2, and the second magnetic-conductance portion B1-Bm is 2.
As shown in Fig. 2, at least one described first magnetic-conductance portion A1-An and/or at least one described second magnetic-conductance portion B1-Bm
It is alternatively arranged and can include but is not limited to following mode:
A kind of preferred mode, described be alternatively arranged are spaced each other including each first magnetic-conductance portion and each second magnetic-conductance portion
It arranges (as shown in Fig. 2 the first and second width figure, wherein the first magnetic-conductance portion and the second magnetic-conductance portion are respectively 3), it in this way can be with maximum journey
Degree saves winding.
Another way: it is described be alternatively arranged including every multiple first magnetic-conductance portions or multiple second magnetic-conductance portions each other
It is alternatively arranged, such as: every being alternatively arranged (such as third and fourth width figure institute of Fig. 2 for 2 the first magnetic-conductance portions and 1 the second magnetic-conductance portion
Show, wherein the first magnetic-conductance portion is 4, and the second magnetic-conductance portion is respectively 3), or every 2 the first magnetic-conductance portions and every 2 the
Two magnetic-conductance portions are alternatively arranged etc..Opposite preferred embodiment will increase the quantity of winding, but belong to guarantor of the invention
It protects in range.
It should be noted that at least one described first magnetic-conductance portion and at least one described second magnetic-conductance portion can be preset to
One, can also be fixed together by way of assembly.
As shown in Fig. 2, the abutting side of at least partly adjacent first magnetic-conductance portion and/or second magnetic-conductance portion is set
Set common winding.Below according to upper segment description 2 kinds of the first and second magnetic-conductance portions different arrangement modes to setting winding
Mode is further described.
As shown in Fig. 2 the first and second width figure, the first arrangement mode includes each first magnetic-conductance portion A1-A3 as described above
With each portion second magnetic conduction B1-B3 spaced-apart relation, when using this arrangement mode, the first, second magnetic-conductance portion A1-A3,
B1-B3 is adjacent to each other, i.e., the two sides of each first magnetic-conductance portion abut the second magnetic-conductance portion respectively and (remove and be located at end in linear electric machine
Magnetic-conductance portion outside), and the two sides of each second magnetic-conductance portion abut the first magnetic-conductance portion respectively and (leading except end is located in linear electric machine
Outside magnetic portion), it is preferred that the first magnetic-conductance portion or the second magnetic-conductance portion of each first magnetic-conductance portion and the second magnetic-conductance portion and two sides adjoining
Common winding is respectively set at side in common abut, therefore two common windings are arranged in each first, second magnetic-conductance portion, thus
It further include magnetic conduction of two magnetic-conductance portions respectively with other side adjoining in two adjacent magnetic-conductance portions in addition to the common winding of the two
The common winding in portion.It is anti-according to electromagnetism since the current direction of each common winding is the direction perpendicular to paper
Principle is answered, the magnetic flux in the first, second magnetic-conductance portion of two common windings of each setting includes that two common windings generate
The superposition in magnetic field is passed through since each common winding is polyphase windings by each common winding of multiphase of control
Electric current, so that it may which realization is respectively controlled the first magnetic-conductance portion and the second magnetic-conductance portion.
It should be noted that the mode of setting winding, preferably as described above each the first and second adjacent magnetic conductions
Common winding (as shown in Fig. 2 the first width figure) is all arranged in the abutting side in portion each other, can utmostly save winding in this way；Certainly
Also common winding is arranged (such as Fig. 2 the first width figure institute in the abutting side that can choose the first and second adjacent magnetic-conductance portions of part
Show), and a part of first and second magnetic-conductance portions are respectively set individual winding control, opposite preferred embodiment will increase around
The quantity of group, but belong in protection scope of the present invention.Its principle controlled, individual winding individually control, common winding
Referring to described above, it is no longer repeated herein.
As shown in third and fourth width figure of Fig. 2, second of arrangement mode include, at interval of multiple first magnetic-conductance portions or multiple
The arrangement of second magnetic-conductance portion, the winding set-up mode of this arrangement mode also may include two kinds:
A kind of mode are as follows: as shown in Fig. 2 third width figure, as long as each first or second magnetic-conductance portion have adjacent first,
Common winding is just arranged in second magnetic-conductance portion, regardless of adjacent magnetic-conductance portion is one species, such as: the first adjacent magnetic-conductance portion
A1 and the first magnetic-conductance portion A2 are arranged common winding, and adjacent the first magnetic-conductance portion A1 and the second magnetic-conductance portion B1 be also provided with together about
Group.
Another mode are as follows: as shown in the 4th width figure of Fig. 2, identical magnetic-conductance portion adjacent to each other do not use share around
Group, such as: the first magnetic-conductance portion A1 and the first magnetic-conductance portion A2 are not provided with common winding；Only when different magnetic-conductance portions are adjacent,
Common winding is set on mutual abutting side, for example, common winding is arranged in the first magnetic-conductance portion A1 and the second magnetic-conductance portion B1.
Above-mentioned first, second magnetic-conductance portion and its working principle of winding are not repeated herein referring to described in above example
It repeats.
It should be noted that the electric current of the polyphase windings input can be arbitrary value.In addition to this, it is preferred that pass through
Described above, the electric current actually passed through in the first magnetic-conductance portion and the second magnetic-conductance portion includes the group of the electric current of each common winding
It closes, the difference and the first magnetic-conductance portion that are arranged according to the first magnetic-conductance portion recited above and the second magnetic-conductance portion and the second magnetic-conductance portion
The difference of upper common winding set-up mode, can correspondingly list practical winding passes through in the first and second magnetic-conductance portions electric current with it is more
The relational expression for the electric current that phase winding passes through, and the electric current actually passed through in the first magnetic-conductance portion and the second magnetic-conductance portion is to can be used as
Know what condition was known by various modes, thus combine actual current and relational expression can find out need to distribute to it is each common
The size of current of winding.About polyphase windings electric current input control can specific embodiment four about control equipment in have into one
Walk detailed description.
It should be noted that as shown in Figure 1 and Figure 2, first magnetic-conductance portion and second magnetic-conductance portion can be between straight lines
Every arrangement；As shown in figure 3, a circle can also be arranged in, as long as meet above-mentioned principle, can according to different motor and
The design of corresponding different mover and it is different.
As shown in figure 3, the magnetic-conductance portion of stator core 10 be not limited to spaced the first, second 2 magnetic-conductance portion A1-n,
B1-m (as shown in the lower left Fig. 3) can also be more than 2, such as: can also include it is axially disposed with the first, second 2
Magnetic-conductance portion A1-An, B1-B m parallel third leads, the 4th magnetic-conductance portion C1-n, D1-m (as shown in the lower right Fig. 3), or more,
Third, the structure of the 4th magnetic-conductance portion can be identical as the structure of first and second magnetic-conductance portion, can also be different.The winding
It can be one group of polyphase windings, or multiple groups polyphase windings, such as: it can also include axially disposed another group and the
It three leads, another group of polyphase windings that the 4th magnetic-conductance portion matches.The principle of the work of more magnetic-conductance portions and its winding with first,
The principle of second magnetic-conductance portion and its polyphase windings is identical, therefore this specific embodiment comprising the first, second magnetic-conductance portion only to determine
It is described in detail for sub- core and its polyphase windings.
The first, second magnetic-conductance portion respectively corresponds the first and second movers in this specific embodiment, to realize in an electricity
There are two the different-effects of motor in machine.In addition to this, the first and second magnetic-conductance portions can also correspond to identical mover and (pass through
At least two magnetic-conductance portions are controlled with 1 mover on stator core, and the first, second magnetic-conductance portion all forms magnetic force with the same mover at this time
The control to mover may be implemented in line closed circuit, this kind of method, can be using many when only controlling a mover
Method and structure is realized, and using the structure of this method design to remove 1 mover of control is one of more complicated method,
So the stator of structure of the present invention is mainly still applied in the structure for corresponding to different movers in each magnetic-conductance portion).Have
Closing the structure that stator and mover match can be described in further detail in example 2.
The knot of the various embodiments of different shapes of first and second magnetic-conductance portions of Fig. 4 stator provided in an embodiment of the present invention
The simple schematic top plan view of structure.
It should be further noted that first magnetic-conductance portion and the second magnetic-conductance portion can according to need and corresponding mover
It is designed to various shape, the first magnetic-conductance portion A1-An and the second magnetic-conductance portion B1-Bm can identical with structure (first in such as Fig. 4
Shown in width figure), the first magnetic-conductance portion A1-An and the second magnetic-conductance portion B1-Bm can also mutually be inverted (the 2nd width figure in such as Fig. 4
It is shown), the first magnetic-conductance portion A1-An and the second magnetic-conductance portion B1-Bm can also be with structure differences (such as the third width figure institute in Fig. 4
Show), as long as guaranteeing that adjacent the first magnetic-conductance portion and the second magnetic-conductance portion have a common abutting side, and the first magnetic-conductance portion and corresponding the
One mover is taken in when having the magnetic line of force to pass through, and may be constructed magnetic line of force closed circuit, and corresponding second mover of the second magnetic-conductance portion is taken in
When thering is the magnetic line of force to pass through, magnetic line of force closed circuit may be constructed.
Fig. 5 is the schematic top plan view of stator in a kind of preferred linear motor described in the embodiment of the present invention；Fig. 7 is this hair
The schematic top plan view of stator in the preferred linear motor of another kind described in bright embodiment.
As shown in figure 5, the preferred structure of the first magnetic-conductance portion A1-An and the second magnetic-conductance portion B1-Bm of the stator core are as follows: institute
Stating the first magnetic-conductance portion A1-An is U-shaped, and the second magnetic-conductance portion B1-Bm is that inverted U-shaped or the two are exchanged described first and led
Magnetic portion A1-An is inverted U-shaped, and the second magnetic-conductance portion B1-Bm is U-shaped, and the two, which is spaced each other, to be arranged successively, adjacent in this way
Two adjacent edges of two magnetic-conductance portions abut against.The U-shaped and inverted U-shaped can do certain deformation according to actual needs,
As long as guaranteeing that magnetic-conductance portion includes a bottom and two sides extended from bottom to the same side, as shown in fig. 6, because stator
For circle, therefore the first magnetic-conductance portion and the non-normal U-shaped of the second magnetic-conductance portion, but be similar to it is trapezoidal, it is as also shown in fig. 7, it is described
Stator increases in the end portion width of corresponding mover, so that stator is matched with mover can export bigger torque etc.
Deng the embodiment in Fig. 6, Fig. 7 is the two of them in the numerous deformations of U-shaped structure, it should be understood that all principles and function
Can it is identical as U-shaped and inverted U-shape magnetic conduction construction (that is: magnetic-conductance portion includes bottom and two sides extended from bottom to the same side) and
Similar belongs to protection scope of the present invention.
The first stator slot is formed in first U-shaped portion, forms the second stator slot in second U-shaped portion；First U-shaped portion
Same winding is set jointly with each edge fit that offsets each other of the second U-shaped portion, each winding passes through each stator slot and is wrapped in
On the abutting side, the winding can be centralized winding (as shown in Figure 6), distributed winding or other arbitrary forms and set
The winding set, as long as guaranteeing that the edge fit that offsets each other of two neighboring magnetic-conductance portion is arranged shares winding.
Since first magnetic-conductance portion and second magnetic-conductance portion are mutual inverted first U-shaped structure and the second U-shaped knot
The chimb of structure, first U-shaped structure and second U-shaped structure abutted against is the abutting side, using this shape
First magnetic-conductance portion and the second magnetic-conductance portion can either concentrate the magnetic line of force passed through in magnetic-conductance portion preferably to increase magnetic torque, while energy
Preferably facilitate the first and second magnetic-conductance portions to be formed and abut side, to realize that the large torque of the first magnetic-conductance portion and the second magnetic-conductance portion is non-
Synchronously control.
It should be noted that the stator, in addition to above structure, different motors, the structure design of stator can slightly not yet
Together, such as: magneto, the motor include multiple permanent magnets, and multiple permanent magnets are possible to be arranged at intervals on stator, Huo Zheye
It can be set on mover, or to increase the torque density of output, multiple permanent magnets be all set on stator and mover, then are determined
The magnetic flux passed through on sub- core is also influenced by the magnetic field that permanent magnet generates.And in stepper motor, stator is corresponding to the one of mover
The periphery of side also sets up multiple step-by-step tootheds etc..
Embodiment two,
The embodiment of the present invention two also provide it is a kind of include the stator as described in embodiment one motor.
Fig. 8 is the overlooking structure diagram that stator provided in an embodiment of the present invention corresponds to motor, wherein left side is straight-line electric
Machine, right side are rotating electric machine.
As shown in figure 8, the motor includes at least one first mover 21, the second mover 22 and at least one stator 10,
Stator 10 is motionless with respect to the first, second mover 21,22, and the first, second mover 21,22 relative stators 10 are movable, and first, second
Gap is respectively present between mover 21,22 and stator 10 to form magnetic gap.
It should be noted that the motor may include a stator, it also may include multiple axial or radial arranged side by side
The multiple stators being arranged, it also may include multiple that same first mover, the second mover, which may include one,.Their original
Manage it is identical, this specific embodiment only be illustrated by taking a stator, first, second mover as an example.
As described in embodiment one, the stator 10 includes at least one first magnetic-conductance portion A1-An, at least one second leads
Magnetic portion B1-Bm, the preferably described first magnetic-conductance portion A1-An and the second magnetic-conductance portion B1-Bm respectively correspond the first, second mover 21,22.
As described in embodiment one, stator can also include more magnetic-conductance portions, such as: it is described dynamic when third, four magnetic-conductance portions
Son also may include corresponding third, the 4th mover etc., due to more movers and the first, second mover principle phase
Together, it is only described in detail so that the first, second magnetic-conductance portion corresponds to first, second mover as an example in this embodiment.
More detailed description in relation to stator is referring to specific embodiment one, and it is no longer repeated herein.
First mover and the second mover respectively include, mover core, in addition to this, according to different motors, mover core
Also have different structure designs, such as: may further include the permanent magnet being arranged on mover core in magneto, it is described forever
Magnet can be distributed along circle spacing a certain distance of mover core, also can be set on stator, or defeated to increase motor
Permanent magnet is all arranged on mover and stator in torque out.Or step-by-step toothed corresponding with stator is also set up on mover.It is described
Mover core can be made of various magnetic materials as described in stator, such as: pass through the silicon steel sheet that laminates, iron powder etc..
First, second mover is separately positioned on the two sides of stator.In rotating electric machine, first, second mover
It is separately positioned on the radially opposite sides (radial motor) of stator or the axial sides (axial direction electric machine) of stator is set, in straight-line electric
In machine, first, second mover can be separately positioned on the left and right or upper and lower two sides of the stator.
It should be noted that the motor of this specific embodiment is described in detail by rotating with for permanent magnet linear motor,
But the motor type is not limited to various motors noted in the disclosure, as long as the motor includes as described in embodiment one
The structure of stator belongs to protection scope of the present invention.
Fig. 9 is the first and second Structure of mover provided in an embodiment of the present invention and corresponding first and second magnetic-conductance portions structure
The top view of different motor, wherein form tooth type motor on the outside of outer mover and stator, corresponded on the inside of interior mover and stator
Form surface-mount type motor.
It should be noted that first mover and the second mover 21,22 can use identical structure (such as Fig. 5,6,7
It is shown), first mover and the second mover 21,22 also can according to need using different structures (as shown in Figure 9), certainly
The structure of first and second magnetic-conductance portions and first and second movers different from structure shown in Fig. 9 can also be used, as long as full
Stator structure of the foot as described in embodiment one, and make the first and second magnetic-conductance portions of stator respectively with the first and second mover phases
Cooperation can form the closed circuit of the magnetic line of force, belong in protection scope of the present invention.
In further embodiments, the motor further includes that first mover and the second mover connect same output end altogether,
To increase the torque of output.For example, be 10NM/KG by the torque density that control can make the second mover export, and first
The torque density of mover output is 3NM/KG, and when the two connects an output end altogether, then the torque density that can be exported is 10+3=
13NM/KG, therefore increase the torque of output.
The structure of the stator is referring to described in specific embodiment one, and it is no longer repeated herein.
Embodiment three,
The embodiment of the present invention three also provide it is a kind of with brake function include stator structure as described in embodiment one
Motor.The description of stator in relation to motor is referring to the description in specific embodiment one, and it is no longer repeated herein.
The brake units can be during motor rotation because of the interim brake that some fortuitous events carry out.?
Can refer to when motor after a loss of power, internal deceleration and arrestment mechanism are ineffective because electric power is lost, to make
Machinery equipment is difficult to keep in situ, such as: each joint of the mechanical arm of robot after a loss of power, probably due to gravity from
Original position is fallen down, and uses brake units precisely in order to preventing motor from braking the mover after a loss of power, prevents the mover disconnected
It is continued to rotate after electricity because of the effects of gravity.
Figure 10 is a kind of structural schematic diagram of the motor with brake function provided in an embodiment of the present invention, the motor
For electric rotating motivation, the stator is circle, and first mover and the second mover are the circle of diameter not etc., is separately positioned on
The inner side and outer side of the stator.
As shown in Figure 10, the motor include: at least one stator 10, at least one first mover 21, at least one
Second mover 22, at least one brake units 30.
The stator 10 includes at least one first magnetic-conductance portion A1-An, at least one second magnetic-conductance portion B1-Bm, it is described extremely
Few one first the second magnetic-conductance portion B1-Bm of magnetic-conductance portion A1-An and m respectively corresponds the first, second mover 21,22.
First mover 21 is the driving part of the brake units 30 of the motor, and second mover 22 is brake
The part to be braked of unit 30, i.e. 21 driving brake unit 30 of the first mover complete the braking to second mover, need to illustrate
, this specific embodiment is described in detail by taking electric rotating motivation as an example, and the first mover of the electric rotating motivation is (herein
It is referred to as interior mover) driving part as brake units, and the second mover (being referred to as outer mover herein) is made
For the part to be braked of brake units 30, second mover is used for the power output of the motor, first mover and second
Mover can be interchanged, i.e. the second mover can be interior mover, and the first mover is outer mover, as long as guaranteeing the first mover and second
Mover has one wherein for driving part, another is part to be braked, similarly, in linear motor, however it is not limited to real
It applies in example shown in attached drawing, the position of first mover and the second mover also can be interchanged.
When the rotation of the second mover 22, by adjusting the electric current that each phase winding passes through, the magnetic that the first mover 21 is subject to is controlled
The summation of torque reaches balance and does not rotate, thus can not achieve the driving to brake units 30, therefore brake units 30 do not work,
Such second mover 22 can be with normal rotation.(it should be noted that first mover 21 is not limitation in this stage one
It is fixed not to be able to rotate, it in the design of certain motor, can also rotate to complete the function of normal electric motor, when needing to carry out
When brake driving unit can be converted by certain converting units), when needing to brake the second mover, pass through control
Distribution electric current gives the first magnetizer actually corresponding each phase winding, so that the first mover rotates or rotate certain angle
Degree, and then driving brake unit completes the braking to the second mover.
By using motor recited above, stator can be divided into two magnetic-conductance portions, controlled respectively by sharing winding
Two magnetic-conductance portions, and then two movers are controlled respectively, and the actuator due to one of mover as brake units, it can
Realize there is brake in the motor of small a volume and quality to realize.
The brake units can be completed by the driving of the first mover to the second mover using various existing structures
Braking.For example brake units can be a permanent magnet, the output axis connection of the first mover as the driving unit permanent magnet,
Driving brake unit rotational stops operating when permanent magnet rotating is to the position abutted against with the second mover, at this time because of magnet
Suction-operated, thus the second mover stop motion of control；When needing to release braking, drive permanent magnet that magnet is overcome to attract again
It acts on and rotates.Brake units are also possible to the friction plate of big coefficient of friction, complete braking by the driving of the first mover；Brake
Unit can also include protrusion and card slot, and the protrusion and card slot are separately positioned in the first mover and brake units, pass through drive
The driving of moving cell, so that brake units fasten with the protrusion on the first mover with card slot, when needing to release braking, again
The active force between protrusion and card slot is overcome to separate the two.The brake units may include various structures, as long as needing
Driving unit driving could be completed to belong to the scope of the present invention to the brake units that the second mover is braked.
The structure of the winding of stator is shared by using the first, second mover, and is utilized respectively the first mover and second and is moved
Driving unit and to be braked unit of the son as the brake units of motor, so as to realize in small a volume and quality
Motor in realize have the function of brake.
In other embodiments, it applies under power blackout situation, each phase winding is also by being wired to few one
Electrical storage device and its control unit, the electrical storage device may include: that capacitor, battery etc. (can be electrically connected a storage
Electric installation can also be electrically connected an electrical storage device jointly, unified to carry out flow-dividing control).So that after electric motor circuit breaking, electrical storage device
The first mover that motor can be at least under the control of the control unit continues to provide of short duration electric current supply, so that the
One mover completes the braking to the second mover；After being once again powered up, control unit control first charges to electrical storage device, electrical storage device
Control unit distribution electric current is first passed through to the first mover, releases the braking to the second mover, then just starts the rotation of the second mover.
It should be noted that the first magnetic-conductance portion or the second magnetic-conductance portion of the same stator can be dynamic with axially distributed one
Sub (as shown in Fig. 10), can also be with axially distributed multiple movers (not shown to anticipate out), i.e., same first magnetic-conductance portion is along axial
Corresponding multiple first movers, and the second magnetic-conductance portion is along axial corresponding multiple second movers；Or the stator as described in embodiment one removes
It further include more magnetic-conductance portions outside first, second magnetic-conductance portion, such as: when third, four magnetic-conductance portions, the mover removes first, second
Also may include and third, the 4th mover outside mover.Since more movers are identical as the first, second mover principle, in this tool
It is only carried out specifically so that stator corresponds to one first, second mover including the first, second magnetic-conductance portion as an example in body embodiment
It is bright.The brake units equally may include one either multiple, for example can only include stator and first, second at one
Multiple brake units are set side by side in the motor of mover, can also when motor include more movers, such as: third, the
When four movers, it is arranged and the brake units of the brake units same structure of corresponding first, second mover.
It should be noted that the motor not only can be electric rotating motivation, it is also possible to linear motor, principle
It is identical, it is not repeated herein.
The associated description of the stator structure is referring to described in specific embodiment one, two, and it is no longer repeated herein.
Example IV,
Fourth aspect present invention provides the control of a kind of motor as described in embodiment two or the motor as described in embodiment three
Control equipment, the control equipment, for distributing the electric current of current input terminal to the polyphase windings, to control described first respectively
Magnetic-conductance portion and second magnetic-conductance portion.The polyphase windings electric connection of power supply output end, by the control of the control equipment of coupling,
The electric current that export of distribution current output terminal is to polyphase windings, and since polyphase windings are led including being formed in the first magnetic-conductance portion and second
Multiple common windings in magnetic portion, therefore the electric current passed through by controlling each common winding of multiphase, so as to control respectively
First magnetic-conductance portion and second magnetic-conductance portion, to achieve the purpose that control two movers respectively.The control equipment
The electric current of distribution current output terminal can be arbitrarily set to each winding, either according to the generator or motor need in motor
The purpose to be realized, the precalculated electric current for distributing to each common winding.
Figure 11 A-11B is a kind of structural block diagram for controlling equipment provided in an embodiment of the present invention.
As shown in Figure 11 A, the control equipment 30 can be used for controlling motor 40 or motor 50 comprising for dividing
Electric current with current input terminal gives the control device 31 of the polyphase windings, and the control device 31 is according to first magnetic-conductance portion
It is alternatively arranged with second magnetic-conductance portion, the abutting of at least partly adjacent first magnetic-conductance portion and second magnetic-conductance portion
While the mode of common winding is arranged, obtain in described at least one first magnetic-conductance portion and at least one described second magnetic-conductance portion
The electric current and each common winding that practical winding passes through are led to by the relational expression of electric current to obtain the polyphase windings
The current value crossed.
As shown in Figure 11 B, the control device 31 includes: storage unit 311, input unit 312, processor 313.
The storage unit 311 is used for the storage unit, for storing according to first magnetic-conductance portion and described second
Magnetic-conductance portion is alternatively arranged, and the abutting side setting of at least partly adjacent first magnetic-conductance portion and second magnetic-conductance portion is common
Winding mode, the practical winding at least one described first magnetic-conductance portion and at least one described second magnetic-conductance portion of acquisition
Need by electric current and each common winding relational expression for passing through electric current；
It should be noted that the storage unit includes any device that can be used for storing software or other instructions,
For example including but be not limited to, hard disk, CD, floppy disk, DVD (digital versatile disc), CD (CD), memory stick, flash memory, ROM
(read-only memory), RAM (random access memory), DROM (dynamic random access memory), PROM (programming ROM),
EEPROM (extends erasable PROM), and/or other similar computer-readable medium.
The input unit 312, the torque for needing to export for inputting first mover and second mover, sends
To the processor.The input unit can be key, touch screen etc..
The processor 313 includes: the first computing unit 3131, the second computing unit 3132；
First computing unit 3131, for needing to export according to first mover and second mover that receive
Torque arithmetic described in practical winding passes through in the first magnetic-conductance portion and second magnetic-conductance portion current value, and by the current value
It is sent to second computing unit；Existing calculation method, i.e. formula can specifically be passed through: Tau=3/2Pn* ∮ f*iq is (wherein,
Tau represents torque, and Pn represents number of pole-pairs, and ∮ f represents magnetic linkage, and iq represents electric current).
Second computing unit 3132, for according to practical winding in first magnetic-conductance portion and second magnetic-conductance portion
By current value and at least one described first magnetic-conductance portion and at least one described second magnetic-conductance portion on practical winding need
Will by electric current and each common winding by the relational expression of electric current, obtain the electricity of each common winding
Stream.
The processor can include but is not limited to: CPU, PLC
It should be noted that in addition to described device, for the purpose for realizing the motor or motor, the control equipment
Can also include other devices, unit, circuit, element etc., such as: the control list of electrical storage device described in embodiment three
Member, because the inventive point to the embodiment of the present invention is uncorrelated, this is not described in detail here.
It should be noted that the electric current of the polyphase windings input can be arbitrary value.In addition to this, it is preferred that pass through
Described above, the electric current actually passed through in the first magnetic-conductance portion and the second magnetic-conductance portion includes the group of the electric current of each common winding
It closes, the difference and the first magnetic-conductance portion that are arranged according to the first magnetic-conductance portion recited above and the second magnetic-conductance portion and the second magnetic-conductance portion
The difference of upper common winding set-up mode, can correspondingly list practical winding passes through in the first and second magnetic-conductance portions electric current with it is more
The relational expression for the electric current that phase winding passes through, and the electric current actually passed through in the first magnetic-conductance portion and the second magnetic-conductance portion is to can be used as
Know what condition was known by various modes, thus combine actual current and relational expression can find out need to distribute to it is each common
The size of current of winding.
For convenience of understanding, below with each first magnetic-conductance portion and each two magnetic-conductance portions spaced-apart relation, and it is each adjacent
Common winding is arranged in the abutting side of the first magnetic-conductance portion and the second magnetic-conductance portion that connect, and the electricity for how distributing current output terminal is described in detail
Stream.If the electric current of each common winding input is L (1), L (2), L (3) ..., L (2K)；Wherein, if the first magnetic conduction of control
The electric current of portion A1-An be U (1), U (2), U (3) ..., U (K), if control the second magnetic-conductance portion B1-Bm electric current be V (1), V
(2), (3) V ..., V (M), the magnetic circuit relationship according to section above can obtain:
U (1)=L (1)+L (2), U (2)=L (3)+L (4), U (3)=L (5)+L (6) ..., U (K)=L (2K-1)+
L(2K)
V (1)=V (2)+V (3), V (2)=V (4)+V (5), V (3)=V (6)+V (4) ..., V (K)=L (2K)+L
(1)
It can be obtained by above-mentioned formula, generating the electric current in magnetic field since each magnetic-conductance portion is corresponding is led to by different common windings
The currents combination crossed forms, therefore can be respectively controlled to the first magnetic-conductance portion and the second magnetic-conductance portion.
Or do not changing electric current U (1), U (2), U (3) ..., in the case where U (K), it can be changed electric current V (1), V
(2), (3) V ..., V (K), thus to the second magnetic conduction in the case that realization is constant to the corresponding mover torque of the first magnetic-conductance portion
The control of mover corresponding to portion；Same reason is not changing interior mover electric current V (1), V (2), V (3) ..., V (K)
In the case where, changeable outer mover electric current U (1), U (2), U (3) ..., U (K), to realize that the second magnetic-conductance portion is corresponding
To the control of mover corresponding to the first magnetic-conductance portion in the case that mover torque is constant.
The common winding coupled of each multiphase on the stator controls equipment, and the control equipment is configured as emission control
Signal generates so that the electric current exported from power output end is distributed to each phase winding by control to control each phase winding
Magnetic field intensity.Due in each the first, second adjacent magnetic-conductance portion in addition to the common winding of the two, further include two magnetic conductions
The common winding for the magnetic-conductance portion that portion is abutted with other side respectively, therefore, the electricity passed through by changing other two common winding
The size of stream, so that it may which the asynchronous variation of magnetic flux for controlling adjacent the first magnetic-conductance portion and the second magnetic-conductance portion similarly can control
The asynchronous variation of magnetic flux of entire first, second magnetic-conductance portion, therefore may be implemented to determine by a relatively smaller volume and quality
The purpose that son flexibly controls multiple movers.
It is controlled respectively for convenience of understanding how the first, second magnetic-conductance portion is realized shared polyphase windings and then realized, below with 1
A first magnetic-conductance portion and 1 the second magnetic-conductance portion are example further description.
Fig. 6 is a kind of overlooking structure diagram of preferred rotating electric machine provided in an embodiment of the present invention, wherein each the
One magnetic-conductance portion and the second magnetic-conductance portion spaced-apart relation, and each adjacent first magnetic-conductance portion and second magnetic-conductance portion
Abutting side common winding is set.
As shown in fig. 6, first magnetic-conductance portion respectively includes A1-A6, with spaced second magnetic conduction of the first magnetic-conductance portion
Portion respectively includes B1-B6, and common winding is arranged in the total edge fit of first magnetic-conductance portion and the second magnetic-conductance portion, in this specific implementation
Example in, design the winding of each winding corresponding thereto be same phase winding, therefore the stator include altogether 6 phase winding L1, L2, L3,
L4,L5,L6；According to inductive reaction principle, the magnetic flux of the first magnetic-conductance portion A1 includes the superposition in the magnetic field that L1 and L2 is generated, because
Here be referred to as a phase current U1 for L1+L2, and similarly, the magnetic flux of the second adjacent magnetic-conductance portion B1 includes the magnetic that L2 and L3 is generated
The superposition of field, is referred to as a phase current V1 for L2+L3 here, when L1 and L3 passes through difference by controlling equipment and controlling respectively
When the electric current of intensity, so as to realize the control respectively to the first magnetic-conductance portion A1 and the second magnetic-conductance portion B1.It (can similarly obtain: L3+
L4=U2, L4+L5=V2, L5+L6=U3, L6+L1=V3)；Therefore the motor winding can actually be attributed to U1, U2,
U3, V1, V2, V3, wherein U1, U2, U3 the first magnetic-conductance portion of control A1-A6, V1, V2, V3 control the second magnetic-conductance portion B1-B6.
By analysis above, since the first magnetic-conductance portion corresponds to U1, U2, U3, the second magnetic-conductance portion corresponds to V1, V2, V3, can be with
By designing to realize the requirement that this motor controls respectively, such as: the torque that the first magnetic-conductance portion of design needs is 10NM, second
The torque that magnetic-conductance portion needs is 5NM, can be derived according to formula recited above, the first magnetic-conductance portion and the second magnetic-conductance portion respectively need
Three-phase current U1, U2, U3, V1, V2, V3 value.Again due to it is known that L1+L2=U1, L2+L3=V1, L3+L4=U2,
L4+L5=V2, L5+L6=U3, L6+L1=V3, thus by existing various mathematic calculations can find out L1, L2, L3,
The combination of the value of L4, L5, L6 or various values.
Such as: the structure of motor as shown in Figure 6 can be solved by following matrix equation.
X=[L1, L2, L3, L4, L5, L6] '
Y=[U1, V1, U2, V2, U3, V3] '
According to L1+L2=U1, L2+L3=V1, L3+L4=U2, L4+L5=V2, L5+L6=U3, L6+L1=V3, derive
The matrix M of 6*6 is as follows out:
If Mp is pseudo inverse matrix of the M in X, it is concluded that X=Mp*Y, derives that Mp is as follows according to matrix M, and then can be in the hope of
X out, i.e. L1, L2, L3, L4, L5, the value of L6.
It is solved by above equation, the combination solution of winding L1-L6 can be obtained.The relevant method solved equation belongs to existing
There is technology, can according to need and solved using various mathematical methods, in this not go into detail.
It should be noted that the mode of the embodiment of the present invention electric current distribution is not limited to each first magnetic-conductance portion and each
Two magnetic-conductance portion spaced-apart relations, and common winding is arranged in the abutting side of each adjacent the first magnetic-conductance portion and the second magnetic-conductance portion
Form.The mode of the arrangement of any first magnetic-conductance portion as described above and the second magnetic-conductance portion and winding setting, is ok
According to the actual situation, the electric current that each phase winding is input to from power output end is listed, it is corresponding actual in each magnetic-conductance portion
The relational expression for the electric current that winding passes through, and the electric current actually passed through in the first magnetic-conductance portion and the second magnetic-conductance portion be can be used as it is known
What condition was known by various modes, thus combine actual current and relational expression, so that it may calculate need to distribute to it is each total
The size of current of same winding herein no longer repeats various modes since various calculation method principles are identical one by one.
Embodiment five,
The embodiment of the present invention four also provides a kind of equipment, and the equipment includes the motor as described in embodiment two.
The equipment can be the various equipment including the motor, as long as need to control respectively by more movers or
It is synchronous increasing moment of torsion control, it shall fall within the protection scope of the present invention interior.
The electric machine structure is referring to the description in specific embodiment two, and it is no longer repeated herein.
Embodiment six,
The embodiment of the present invention five also provides a kind of equipment, and the equipment includes the motor as described in embodiment three.
The equipment can be the various equipment including the motor.As using motor described in embodiment three can
To realize having the function of brake in the motor of small a volume and quality, and the robot one that motor directly drives
Aspect needs brake function, and motor is on the one hand needed to have small volume and quality, therefore in this embodiment preferably
The robot that motor directly drives.
The electric motor structure is referring to the description in specific embodiment three, and it is no longer repeated herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in some embodiment
Part, may refer to the associated description of other embodiments.
"and/or" in this paper term, only a kind of incidence relation for describing affiliated partner, indicates that there may be three kinds of passes
System, such as: A and/or B can indicate individualism A, exist simultaneously A and B, these three situations of individualism B.In addition, herein
Middle character "/" typicallys represent the relationship that forward-backward correlation object is a kind of "or".
Claims of the present invention and specification and term " first " in above-mentioned attached drawing, " second ", " third " etc.
(if present) is for distinguishing similar object, without being used to describe a particular order or precedence order.It should be understood that this
The data that sample uses are interchangeable under appropriate circumstances, so that the embodiments described herein can be in addition to illustrating herein or retouching
Sequence other than the content stated is implemented.In addition, term " includes " " having " and their any deformation, it is intended that covering is not
Exclusive includes.Such as: it include that the process, method, system, product or equipment of series of steps or module are not necessarily limited to clearly
Those of list to Chu step or module, but including it is being not clearly listed or for these process, methods, system,
The other steps or module of product or equipment inherently.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.It is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.
In the above-described embodiments, it is described it is inside and outside, upper and lower only represent opposite orientation, might not represent practical literal
On meaning.
It is fixedly connected described in this specific embodiment including but not limited to: by bonding, or passing through clamping, screw etc.
Dismountable mode is fixedly connected.
It should be noted that those skilled in the art should also know that, embodiment described in this description belongs to excellent
Embodiment is selected, related structure is not necessarily essential to the invention.
It is provided for the embodiments of the invention stator, motor, motor and control equipment, equipment above and has carried out detailed Jie
It continues, but the above description of the embodiment is only used to help understand the method for the present invention and its core ideas, should not be construed as to this
The limitation of invention.Those skilled in the art according to the thought of the present invention in the technical scope disclosed by the present invention, can
The change or replacement readily occurred in, should be covered by the protection scope of the present invention.
Claims (18)
1. a kind of motor, the motor includes stator, the stator include stator core, the polyphase windings being arranged on stator core,
It is characterized in that, the motor further includes at least one first mover and at least one second mover；The stator core includes extremely
Few first magnetic-conductance portion, at least one second magnetic-conductance portion；
First magnetic-conductance portion and second magnetic-conductance portion are alternatively arranged, at least partly adjacent first magnetic-conductance portion and institute
Common winding is arranged in the abutting side for stating the second magnetic-conductance portion；
First mover and second mover is respectively set in the two sides of the stator；At least one described first magnetic-conductance portion pair
First mover is answered, at least one described second magnetic-conductance portion corresponds to second mover.
2. motor according to claim 1, which is characterized in that first magnetic-conductance portion and second magnetic-conductance portion interval row
Column, comprising:
Each described first magnetic-conductance portion and each described second magnetic-conductance portion spaced-apart relation；Or
It is alternatively arranged every multiple first magnetic-conductance portions or multiple second magnetic-conductance portions.
3. motor according to claim 1, which is characterized in that at least partly adjacent first magnetic-conductance portion and
Common winding is arranged in the abutting side of second magnetic-conductance portion, comprising:
Common winding is arranged in the abutting side of each adjacent first magnetic-conductance portion and the second magnetic-conductance portion；Or
Common winding is arranged in the abutting side of adjacent first magnetic-conductance portion in part and the second magnetic-conductance portion.
4. motor according to claim 1 or 2 or 3, which is characterized in that led according to first magnetic-conductance portion and described second
Magnetic portion is alternatively arranged, and the side that abuts of at least partly adjacent first magnetic-conductance portion and second magnetic-conductance portion is arranged jointly
The mode of winding obtains the winding for actually including at least one described first magnetic-conductance portion and at least one described second magnetic-conductance portion
By electric current and each common winding relational expression that passes through electric current.
5. motor according to claim 4, which is characterized in that when each described first magnetic-conductance portion and each described the
Two magnetic-conductance portion spaced-apart relations, and the abutting side setting of each adjacent first magnetic-conductance portion and the second magnetic-conductance portion is common
Winding, the winding for actually including at least one first magnetic-conductance portion and at least one described second magnetic-conductance portion described in the acquisition
By electric current and each common winding relational expression that passes through electric current include:
If the electric current of each common winding input is L (1), L (2), L (3) ... ... .L (2K)；Control first magnetic conduction
The electric current in portion is U (1), and U (2), U (3) ... ..U (K), the electric current for controlling second magnetic-conductance portion is V (1), V (2), V
(3).....V(K)；Form following relational expression:
U (1)=L (1)+L (2), U (2)=L (3)+L (4) ..., U (K)=L (2K-1)+L (2K)
V (1)=L (2)+L (3), V (2)=L (4)+L (5) ..., V (K)=L (2K)+L (1).
6. motor according to claim 1 or 2 or 3, which is characterized in that first magnetic-conductance portion and second magnetic-conductance portion
For mutual inverted first U-shaped structure and the second U-shaped structure, first U-shaped structure and second U-shaped structure are abutted against
Chimb be the abutting side.
7. motor according to claim 1 or 2 or 3, which is characterized in that first mover and second mover connect altogether
Same output end, to increase the torque of output.
8. a kind of motor, the motor includes stator, the stator include stator core, be arranged in it is more on the stator core
Phase winding, it is characterised in that: the motor further include: at least one first mover, at least one second mover and at least one
A brake units；The stator core includes at least one first magnetic-conductance portion, at least one second magnetic-conductance portion；
First magnetic-conductance portion and second magnetic-conductance portion are alternatively arranged, at least partly adjacent first magnetic-conductance portion and institute
Common winding is arranged in the abutting side for stating the second magnetic-conductance portion；
First mover and second mover is respectively set in the two sides of the stator；At least one described first magnetic-conductance portion pair
First mover is answered, at least one described second magnetic-conductance portion corresponds to second mover；
First mover drives the brake units to complete the braking to second mover.
9. motor according to claim 8, which is characterized in that first magnetic-conductance portion and second magnetic-conductance portion interval
Arrangement, comprising:
Each described first magnetic-conductance portion and each described second magnetic-conductance portion spaced-apart relation；Or
It is alternatively arranged every multiple first magnetic-conductance portions or multiple second magnetic-conductance portions.
10. motor according to claim 8, which is characterized in that at least partly adjacent first magnetic conduction
Common winding is arranged in portion and the abutting side of second magnetic-conductance portion, comprising:
Common winding is arranged in the abutting side of each adjacent first magnetic-conductance portion and the second magnetic-conductance portion；Or
Common winding is arranged in the abutting side of adjacent first magnetic-conductance portion in part and the second magnetic-conductance portion.
11. according to motor described in claim 8 or 9 or 10, which is characterized in that according to first magnetic-conductance portion and described
Two magnetic-conductance portions are alternatively arranged, and the abutting side setting of at least partly adjacent first magnetic-conductance portion and second magnetic-conductance portion is altogether
With winding mode, obtain at least one described first magnetic-conductance portion and at least one described second magnetic-conductance portion and actually include
The relational expression that the electric current and each common winding that winding passes through pass through electric current.
12. motor according to claim 11, which is characterized in that when each described first magnetic-conductance portion and each institute
State the second magnetic-conductance portion spaced-apart relation, and the abutting side setting of each adjacent first magnetic-conductance portion and the second magnetic-conductance portion
Common winding actually includes at least one first magnetic-conductance portion and at least one described second magnetic-conductance portion described in the acquisition
The relational expression that the electric current and each common winding that winding passes through pass through electric current includes:
If the electric current of each common winding input is L (1), L (2), L (3) ... ... .L (2K)；Control first magnetic conduction
The electric current in portion is U (1), and U (2), U (3) ... ..U (K), the electric current for controlling second magnetic-conductance portion is V (1), V (2), V
(3).....V(K)；Form following relational expression:
U (1)=L (1)+L (2), U (2)=L (3)+L (4) ..., U (K)=L (2K-1)+L (2K)
V (1)=L (2)+L (3), V (2)=L (4)+L (5) ..., V (K)=L (2K)+L (1).
13. according to motor described in claim 8 or 9 or 10, which is characterized in that first magnetic-conductance portion and described second is led
Magnetic portion is mutual inverted first U-shaped structure and the second U-shaped structure, the phase of first U-shaped structure and second U-shaped structure
The chimb of abutting is the abutting side.
14. according to motor described in claim 8 or 9 or 10, which is characterized in that the motor further includes an at least electric power storage
Device and its control unit, the electrical storage device are electrically connected the polyphase windings by the control of described control unit.
15. motor described in motor described in a kind of claim 1-7 any one or claim 8-14 any one
Control equipment, which is characterized in that including for controlling the control device for inputting the electric current of the polyphase windings, according to described first
Magnetic-conductance portion and second magnetic-conductance portion are alternatively arranged, at least partly adjacent first magnetic-conductance portion and second magnetic-conductance portion
Abutting side the mode of common winding is set, at least one described first magnetic-conductance portion of acquisition and it is described at least one second lead
The electric current and each common winding that the winding for actually including in magnetic portion passes through are by the relational expression of electric current, to obtain institute
State the electric current of each common winding.
16. control equipment according to claim 15, which is characterized in that the control device includes: storage unit, input
Unit, processor；
The storage unit is alternatively arranged for storing according to first magnetic-conductance portion and second magnetic-conductance portion, at least partly
The abutting side of adjacent first magnetic-conductance portion and second magnetic-conductance portion is arranged the mode of common winding, acquisition it is described
Electric current that practical winding at least one first magnetic-conductance portion and at least one described second magnetic-conductance portion passes through and described each total
The relational expression that same winding passes through electric current；
The input unit, the torque for needing to export for inputting first mover and second mover, is sent to described
Processor；
The processor includes: the first computing unit, the second computing unit；
First computing unit, the torquemeter for needing to export according to first mover and second mover that receive
The current value that practical winding passes through in first magnetic-conductance portion and second magnetic-conductance portion is calculated, and the current value is sent to institute
State the second computing unit；
Second computing unit, for according to the electricity that practical winding passes through in first magnetic-conductance portion and second magnetic-conductance portion
Flow valuve and the relational expression of storage unit storage, obtain the current value of each common winding.
17. a kind of equipment, which is characterized in that the equipment includes motor described in claim 1-7 any one.
18. a kind of equipment, which is characterized in that the equipment includes motor described in claim 8-14 any one, described
Equipment includes the robot that the motor directly drives.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611008588.0A CN106887908B (en) | 2016-11-16 | 2016-11-16 | A stator, motor, motor and control equipment and equipment |
| PCT/CN2017/111163 WO2018090935A1 (en) | 2016-11-16 | 2017-11-15 | Stator, motor, electric motor and control device, and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611008588.0A CN106887908B (en) | 2016-11-16 | 2016-11-16 | A stator, motor, motor and control equipment and equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106887908A CN106887908A (en) | 2017-06-23 |
| CN106887908B true CN106887908B (en) | 2019-03-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611008588.0A Active CN106887908B (en) | 2016-11-16 | 2016-11-16 | A stator, motor, motor and control equipment and equipment |
Country Status (2)
| Country | Link |
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| CN (1) | CN106887908B (en) |
| WO (1) | WO2018090935A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106887908B (en) * | 2016-11-16 | 2019-03-29 | 南方电机科技有限公司 | A stator, motor, motor and control equipment and equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006345682A (en) * | 2005-06-10 | 2006-12-21 | Mitsubishi Electric Corp | Annular winding motor |
| CN102075043A (en) * | 2011-01-23 | 2011-05-25 | 浙江大学 | Multi-phase annular winding birotor disc type induction motors |
| CN102684375A (en) * | 2011-03-18 | 2012-09-19 | 精工爱普生株式会社 | Electric motor, robot, and brake device |
| CN203537200U (en) * | 2013-09-27 | 2014-04-09 | 江苏大学 | Double-stator cylindrical linear motor of magnetic circuit series-connection type |
| CN206712634U (en) * | 2016-11-16 | 2017-12-05 | 南方电机科技有限公司 | A stator, motor, motor and control equipment, robot equipment |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB201006790D0 (en) * | 2010-04-23 | 2010-06-09 | Rolls Royce Plc | Electrical machine |
| CN106887908B (en) * | 2016-11-16 | 2019-03-29 | 南方电机科技有限公司 | A stator, motor, motor and control equipment and equipment |
-
2016
- 2016-11-16 CN CN201611008588.0A patent/CN106887908B/en active Active
-
2017
- 2017-11-15 WO PCT/CN2017/111163 patent/WO2018090935A1/en not_active Ceased
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006345682A (en) * | 2005-06-10 | 2006-12-21 | Mitsubishi Electric Corp | Annular winding motor |
| CN102075043A (en) * | 2011-01-23 | 2011-05-25 | 浙江大学 | Multi-phase annular winding birotor disc type induction motors |
| CN102684375A (en) * | 2011-03-18 | 2012-09-19 | 精工爱普生株式会社 | Electric motor, robot, and brake device |
| CN203537200U (en) * | 2013-09-27 | 2014-04-09 | 江苏大学 | Double-stator cylindrical linear motor of magnetic circuit series-connection type |
| CN206712634U (en) * | 2016-11-16 | 2017-12-05 | 南方电机科技有限公司 | A stator, motor, motor and control equipment, robot equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018090935A1 (en) | 2018-05-24 |
| CN106887908A (en) | 2017-06-23 |
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