WO2008082285A1 - Polyphase stepper electric motor - Google Patents
Polyphase stepper electric motor Download PDFInfo
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- WO2008082285A1 WO2008082285A1 PCT/LV2006/000012 LV2006000012W WO2008082285A1 WO 2008082285 A1 WO2008082285 A1 WO 2008082285A1 LV 2006000012 W LV2006000012 W LV 2006000012W WO 2008082285 A1 WO2008082285 A1 WO 2008082285A1
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- 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
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
Definitions
- the invention relates to electrical engineering, in particular to electric machines with a multiphase anchor winding, intended for use in a discrete electric drive.
- a known design of a stepper motor [1] with a two-phase control winding is the low accuracy of the positioning of the rotor.
- the purpose of the invention is to increase the reliability of a multi-phase stepper motor. This goal is achieved in that a multiphase stepping motor is used, comprising a gear rotor and a stator with a control winding with several phase zones offset relative to each other.
- the phases of the control winding are divided into two groups, with the number of phases in the first and second groups, respectively, m, and m 2 in the ratio
- phase coils of the first group encompass k ⁇ of the pole protrusions located with a pitch t x along the teeth of adjacent protrusions equal to
- phase coils of the second group encompass Ar 1 m x pole protrusions, while their pitch t 2 along the teeth of adjacent pole protrusions covered by coils of different phases is
- t z is the gear division of the rotor
- k x and k 2 are integers.
- the outputs of the phase control windings can be connected in the first group by a polygon, and in the second - in series-parallel
- Figure 2 (a, b) shows the connection diagrams of the phases of the control winding in the first and second groups, respectively, and the order of their switching for the first three steps.
- a multi-phase stepper motor comprises a gear rotor 1 and a stator 2 with phase zones offset from each other.
- the control windings are divided into two groups, with the number of phases in the first and second groups, respectively, m, and m g in relation (1), the phase coils of the first group, for example 3, 4, 5, respectively, cover one pole projection 6, 7, 8, located with step t, according to expression (2).
- the phase coils of the second group for example, 9, 10, cover the corresponding group of three pole protrusions.
- the step along the teeth of adjacent pole protrusions for example, 6 and 11, covered by coils of different phases a and d, is equal to t 2 according to expression (3).
- the terminals of the control winding phases A-X, B-Y, C-Z in the first group are connected by a triangle, and the terminals of the phases a-c and b-d in the second group are connected in series-parallel.
- the coils of phases A, B, C of the first group cover one pole ledge for which the step size in each group in accordance with expression (2) is equal to
- Stepper motor operates as follows. When the A-X and a-c phases are connected to the DC voltage, the position shown in fig. 1, when the action of the magnetic field forces the leftmost tooth of the rotor 1 is set against the first left pole protrusion of the stator 2, and the hollows of the rotor 1 against the seventh left pole protrusion of the stator 2.
- a positive voltage potential is applied to the terminals of the BY and bd phases.
- the rotor 1 of the electric motor takes a step to the right equal to t z l ⁇ 2 and the rightmost tooth of the rotor 1 is fixed against the twelfth pole ledge on the left.
- the CZ phase is turned on for the positive potential, and the a-c phase and the rotor 1 of the electric motor take another step to the right, equal to t z / 12, then the sixth tooth on the left of the rotor 1 is fixed against the eighth left protrusion of the stator.
- the maximum torque M m for the stepper motor of the proposed design is described by the expression
- ⁇ max, ⁇ min - the maximum and minimum values of the magnetic conductivity of the pole protrusion of the stator - when it is located respectively against the tooth or against the groove of the rotor
- control phases into two groups allows you to reduce the pitch of the rotor 1 and, accordingly, to ensure high precision positioning of the electric motor. This effect is achieved with a smaller total number of control winding phases, which provides high reliability and a large specific torque.
- JP Patent 2005318747 publication of November 10, 2005, MKI 7 B06B1 / 02; B06B1 / 04; B06B1 / 10; B06B1 / 16; H02K7 / 06; H02K7 / 075; H02K37 / 12; H02K37 / 14.
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Stepping Motors (AREA)
Abstract
Description
МНОГОФАЗНЫЙ ШАГОВЫЙ ЭЛЕКТРОДВИГАТЕЛЬ MULTI-STEP STEP MOTOR
Изобретение относится к электротехнике, в частности к электрическим машинам с многофазной якорной обмоткой, предназначенным для использования в дискретном электроприводе.The invention relates to electrical engineering, in particular to electric machines with a multiphase anchor winding, intended for use in a discrete electric drive.
Известна конструкция шагового электродвигателя [1] с двухфазной обмоткой управления. Недостатком такой конструкции является низкая точность позиционирования ротора.A known design of a stepper motor [1] with a two-phase control winding. The disadvantage of this design is the low accuracy of the positioning of the rotor.
Наиболее близким к предлагаемому техническому решению является многофазный шаговый электродвигатель, содержащий зубчатый ротор и статор с обмоткой управления со смещенными относительно друг - друга несколькими фазными зонами [2]. Повышение точности позиционирования путем уменьшения шага в такой конструкции связано с увеличением числа фаз, что приводит к снижению удельного момента и усложняет конструкцию электродвигателя. Причем уменьшение шага связано с увеличением числа фаз обмотки управления в соответствующее число раз. Это существенно усложняет двигатель и снижает его надёжность.Closest to the proposed technical solution is a multi-phase stepper motor containing a gear rotor and a stator with a control winding with several phase zones offset relative to each other [2]. Improving the accuracy of positioning by reducing the pitch in this design is associated with an increase in the number of phases, which leads to a decrease in the specific moment and complicates the design of the electric motor. Moreover, the decrease in pitch is associated with an increase in the number of phases of the control winding by a corresponding number of times. This greatly complicates the engine and reduces its reliability.
Цель изобретения - повышение надежности многофазного шагового электродвигателя. Поставленная цель достигается тем, что используется многофазный шаговый электродвигатель, содержащий зубчатый ротор и статор с обмоткой управления со смещенными относительно друг друга несколькими фазными зонами.The purpose of the invention is to increase the reliability of a multi-phase stepper motor. This goal is achieved in that a multiphase stepping motor is used, comprising a gear rotor and a stator with a control winding with several phase zones offset relative to each other.
Согласно изобретению, фазы обмотки управления разбиты на две группы, с числом фаз в первой и второй группах соответственно m, и m2 в соотношенииAccording to the invention, the phases of the control winding are divided into two groups, with the number of phases in the first and second groups, respectively, m, and m 2 in the ratio
mг -mx = \ , (1)m g -m x = \, (1)
причем катушки фаз первой группы охватывают kλ полюсных выступов, расположенных с шагом tx по зубцам, смежных выступов, равнымmoreover, the phase coils of the first group encompass k λ of the pole protrusions located with a pitch t x along the teeth of adjacent protrusions equal to
t^ tz ((kι mι -l)/kι щ) , (2) а катушки фаз второй группы охватываю Ar1 mx полюсных выступов, при этом их шаг t2 по зубцам смежных полюсных выступов, охваченных катушками разных фаз, равенt ^ t z ((k ι m ι -l) / k ι щ), (2) and the phase coils of the second group encompass Ar 1 m x pole protrusions, while their pitch t 2 along the teeth of adjacent pole protrusions covered by coils of different phases is
t2 = tz((kι mι -l)/k} m1) + (k2 ± l/m2)) , (3)t 2 = t z ((k ι m ι -l) / k } m 1 ) + (k 2 ± l / m 2 )), (3)
где tz- зубцовое деление ротора, kx и k2 - целые числа.where t z is the gear division of the rotor, k x and k 2 are integers.
Для увеличения удельного момента выводы фазных обмоток управления могут быть соединены в первой группе многоугольником, а во второй - последовательно-параллельноTo increase the specific moment, the outputs of the phase control windings can be connected in the first group by a polygon, and in the second - in series-parallel
Изобретение пояснено чертежами, где на fig. 1 представлена развертка фаз управления, размещенных в пазах статора многофазного шагового двигателя, для случая когда mx = 3, m2 = 4, kx = 1 , k2 = О и знак „+" в выражении (3). На fig. 2(a, b) показаны схемы соединения фаз обмотки управления соответственно в первой и во второй группах и порядок их коммутации для первых трех шагов.The invention is illustrated by drawings, where in fig. Figure 1 shows the sweep of the control phases located in the slots of the stator of a multiphase stepper motor, for the case when m x = 3, m 2 = 4, k x = 1, k 2 = O and the “+" sign in expression (3). In fig. Figure 2 (a, b) shows the connection diagrams of the phases of the control winding in the first and second groups, respectively, and the order of their switching for the first three steps.
Многофазный шаговый электродвигатель содержит зубчатый ротор 1 и статор 2 со смещенными относительно друг друга фазными зонами. Обмотки управления разбиты на две группы, с числом фаз в первой и второй группах соответственно m, и mг в соотношении (1), катушки фаз первой группы, например 3, 4, 5 охватывают соответственно по одному полюсному выступу 6, 7, 8, расположенных с шагом t, согласно выражению (2). Катушки фаз второй группы, например, 9, 10 охватывают соответствующую группу из трех полюсных выступов. Для катушки 9 это выступы 6 - 8 на статоре 2. При этом шаг по зубцам смежных полюсных выступов, например, 6 и 11 , охваченных катушками разных фаз а и d, равен t2 согласно выражению (3).A multi-phase stepper motor comprises a gear rotor 1 and a stator 2 with phase zones offset from each other. The control windings are divided into two groups, with the number of phases in the first and second groups, respectively, m, and m g in relation (1), the phase coils of the first group, for example 3, 4, 5, respectively, cover one pole projection 6, 7, 8, located with step t, according to expression (2). The phase coils of the second group, for example, 9, 10, cover the corresponding group of three pole protrusions. For coil 9, these are protrusions 6 - 8 on stator 2. In this case, the step along the teeth of adjacent pole protrusions, for example, 6 and 11, covered by coils of different phases a and d, is equal to t 2 according to expression (3).
Выводы фаз обмотки управления A-X, B-Y, C-Z в первой группе соединены треугольником, а выводы фаз а-с и b-d во второй группе - соединены последовательно-параллельно.The terminals of the control winding phases A-X, B-Y, C-Z in the first group are connected by a triangle, and the terminals of the phases a-c and b-d in the second group are connected in series-parallel.
В конструкции многофазного шагового электродвигателя, представленной на fig. 1, катушки фаз А, В, С первой группы охватывают по одному полюсному выступу, для которых величина шага в каждой группе в соответствии с выражением (2) равнаIn the design of the multiphase stepping motor shown in fig. 1, the coils of phases A, B, C of the first group cover one pole ledge for which the step size in each group in accordance with expression (2) is equal to
L - -U . (4)L - -U. (four)
1 3 z 1 3 z
Катушки фаз (a-c,b-d) второй группы охватывают kx mx = Ъ полюсных выступов, причем магнитные потоки этих катушек направлены встречно. Шаг по зубцам смежных полюсных выступов t2 , охваченных катушками разных фазThe phase coils (ac, bd) of the second group cover k x m x = b pole protrusions, and the magnetic fluxes of these coils are directed in the opposite direction. The pitch along the teeth of adjacent pole ledges t 2 covered by coils of different phases
(а-с, b-d) второй группы в соответствии с выражением (3) равен(ac, b-d) of the second group in accordance with the expression (3) is equal to
h = ^z - (5)h = ^ z - (5)
В этих условиях общее число полюсных выступов в шаговом электродвигателе двигателе равноUnder these conditions, the total number of pole protrusions in the stepper motor is
TIp = Ic1 mx m2 = 1 - 3 - 4 = 12 , (6)TI p = Ic 1 m x m 2 = 1 - 3 - 4 = 12, (6)
а число зубцов ротора равноand the number of teeth of the rotor is equal to
ZR = ((пp - m2)tx + mг tг)ltz = 9. (7)Z R = ((n p - m 2 ) t x + m g t g ) lt z = 9. (7)
Шаговый электродвигатель работает следующим образом. При подключении фаз A-X и а-с под напряжение постоянного тока фиксируется положение, показанное на fig. 1 , когда действием сил магнитного поля крайний слева зубец ротора 1 устанавливается против первого слева полюсного выступа статора 2, а впадины ротора 1 против седьмого слева полюсного выступа статора 2.Stepper motor operates as follows. When the A-X and a-c phases are connected to the DC voltage, the position shown in fig. 1, when the action of the magnetic field forces the leftmost tooth of the rotor 1 is set against the first left pole protrusion of the stator 2, and the hollows of the rotor 1 against the seventh left pole protrusion of the stator 2.
В следующем такте коммутации положительный потенциал напряжения подается на выводы фаз B-Y и b-d. Ротор 1 электродвигателя делает шаг вправо, равный tz l\2 и крайний правый зубец ротора 1 фиксируется против двенадцатого слева полюсного выступа. На третьем такте под положительный потенциал включается фаза C-Z , а под отрицательный - фаза а-с и ротор 1 электродвигателя делает еще один шаг вправо, равный tz /12 тогда шестой слева зубец ротора 1 фиксируется против восьмого слева полюсного выступа статора. Максимальный вращающий момент Mm для шагового двигателя предложенной конструкции описывается выражениемIn the next switching cycle, a positive voltage potential is applied to the terminals of the BY and bd phases. The rotor 1 of the electric motor takes a step to the right equal to t z l \ 2 and the rightmost tooth of the rotor 1 is fixed against the twelfth pole ledge on the left. At the third step, the CZ phase is turned on for the positive potential, and the a-c phase and the rotor 1 of the electric motor take another step to the right, equal to t z / 12, then the sixth tooth on the left of the rotor 1 is fixed against the eighth left protrusion of the stator. The maximum torque M m for the stepper motor of the proposed design is described by the expression
M1n = Vб ZR(Amax-λmm)Wкl WK2 11 I2 , (8)M 1n = Vb Z R (Amax-λmm) W кl W K2 1 1 I 2 , (8)
где Лmax,Лmin - максимальное и минимальное значения магнитных проводимостей полюсного выступа статора - при расположении его соответственно против зубца или против паза ротора,where Лmax, Лmin - the maximum and minimum values of the magnetic conductivity of the pole protrusion of the stator - when it is located respectively against the tooth or against the groove of the rotor,
Wкι,WK2 - число витков в катушках фаз первой и второй группы,W кι , W K2 - the number of turns in the coils of the phases of the first and second groups,
Ix, I2 - токи в катушках фазах соответствующих групп обмотки управления.I x , I 2 - currents in the coils of the phases of the corresponding groups of the control winding.
Таким образом, разделение фаз управления на две группы позволяет уменьшить шаг перемещения ротора 1 и соответственно обеспечить высокую точность позиционирования электродвигателя. Этот эффект достигается при меньшем общем числе фаз обмотки управления, что обеспечивает высокую надёжностью и большой удельный момент.Thus, the separation of the control phases into two groups allows you to reduce the pitch of the rotor 1 and, accordingly, to ensure high precision positioning of the electric motor. This effect is achieved with a smaller total number of control winding phases, which provides high reliability and a large specific torque.
Источники информациSources of Information
1. Патент JP Na 2005318747, публикация от 10.11.2005, МКИ7 B06B1/02; B06B1/04; B06B1/10; B06B1/16; H02K7/06; H02K7/075; H02K37/12; H02K37/14.1. JP Patent 2005318747, publication of November 10, 2005, MKI 7 B06B1 / 02; B06B1 / 04; B06B1 / 10; B06B1 / 16; H02K7 / 06; H02K7 / 075; H02K37 / 12; H02K37 / 14.
2. Патент RU Ns 1820982, публикация от 21.07.1991 , МКИ5 H02K37/00 (прототип). 2. Patent RU Ns 1820982, publication of 07/21/1991, MKI 5 H02K37 / 00 (prototype).
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Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/LV2006/000012 WO2008082285A1 (en) | 2006-12-28 | 2006-12-28 | Polyphase stepper electric motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/LV2006/000012 WO2008082285A1 (en) | 2006-12-28 | 2006-12-28 | Polyphase stepper electric motor |
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| WO2008082285A1 true WO2008082285A1 (en) | 2008-07-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| PCT/LV2006/000012 Ceased WO2008082285A1 (en) | 2006-12-28 | 2006-12-28 | Polyphase stepper electric motor |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU180240A1 (en) * | В. И. Ларченко | EIGHT-PHASE STEP ELECTRIC MOTOR | ||
| US4763034A (en) * | 1987-07-10 | 1988-08-09 | Sigma Instruments, Inc. | Magnetically enhanced stepping motor |
| US4947066A (en) * | 1988-11-01 | 1990-08-07 | Servo Products Co. | High speed variable reluctance motor with equal tooth ratios |
| RU2074489C1 (en) * | 1994-02-10 | 1997-02-27 | Михаил Иванович Лузин | Stepping electric motor |
| RU2113755C1 (en) * | 1993-06-17 | 1998-06-20 | Михаил Иванович Лузин | M-phase step electric motor |
-
2006
- 2006-12-28 WO PCT/LV2006/000012 patent/WO2008082285A1/en not_active Ceased
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU180240A1 (en) * | В. И. Ларченко | EIGHT-PHASE STEP ELECTRIC MOTOR | ||
| US4763034A (en) * | 1987-07-10 | 1988-08-09 | Sigma Instruments, Inc. | Magnetically enhanced stepping motor |
| US4947066A (en) * | 1988-11-01 | 1990-08-07 | Servo Products Co. | High speed variable reluctance motor with equal tooth ratios |
| RU2113755C1 (en) * | 1993-06-17 | 1998-06-20 | Михаил Иванович Лузин | M-phase step electric motor |
| RU2074489C1 (en) * | 1994-02-10 | 1997-02-27 | Михаил Иванович Лузин | Stepping electric motor |
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