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WO2012119307A1 - 一种三相永磁伺服电动机 - Google Patents

一种三相永磁伺服电动机 Download PDF

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Publication number
WO2012119307A1
WO2012119307A1 PCT/CN2011/071620 CN2011071620W WO2012119307A1 WO 2012119307 A1 WO2012119307 A1 WO 2012119307A1 CN 2011071620 W CN2011071620 W CN 2011071620W WO 2012119307 A1 WO2012119307 A1 WO 2012119307A1
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WIPO (PCT)
Prior art keywords
teeth
tooth
phase
micro
small
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PCT/CN2011/071620
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English (en)
French (fr)
Inventor
杜坤梅
曹立明
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ZHEJIANG BOWISE TECHNOLOGY DEVELOPMENT Co Ltd
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ZHEJIANG BOWISE TECHNOLOGY DEVELOPMENT Co Ltd
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Application filed by ZHEJIANG BOWISE TECHNOLOGY DEVELOPMENT Co Ltd filed Critical ZHEJIANG BOWISE TECHNOLOGY DEVELOPMENT Co Ltd
Priority to PCT/CN2011/071620 priority Critical patent/WO2012119307A1/zh
Priority to CN201180053003.6A priority patent/CN103222166B/zh
Publication of WO2012119307A1 publication Critical patent/WO2012119307A1/zh
Anticipated expiration legal-status Critical
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
    • H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
    • H02K21/14—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures
    • H02K21/16—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures having annular armature cores with salient poles
    • 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
    • H02K1/14—Stator cores with salient poles
    • H02K1/146—Stator cores with salient poles consisting of a generally annular yoke with salient poles
    • H02K1/148—Sectional cores
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
    • H02K29/03—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with a magnetic circuit specially adapted for avoiding torque ripples or self-starting problems

Definitions

  • This invention relates to permanent magnet motors and, more particularly, to a three-phase permanent magnet servo motor suitable for direct drive and position, rate servo control applications.
  • the permanent magnet DC motor according to the present invention mainly means a servo motor capable of efficiently generating a low torque ripple.
  • the torque fluctuation mainly includes: a lower cogging torque component (positioning torque), a lower current and a potential harmonic torque component.
  • the main objectives of such servo motor design are: small torque fluctuation, large output power (large product of speed and torque), large overload capacity, small size, low price, and the like.
  • the main reasons for the torque fluctuation include: (1) the torque fluctuation caused by the product of the stator current harmonic and the back potential harmonic; (2) the rotor rotation when the stator current is zero, and the positioning torque fluctuation caused by the cogging effect due to the cogging effect .
  • the main methods to suppress torque fluctuation include: (1) traditional fractional-slot winding design; (2) optimized concentrated winding design with cogging and magnetic pole, such as the name "high-efficiency permanent magnet brushless motor", the Chinese invention of the publication number CN185692lA patent application.
  • the traditional fractional-slot winding design of the motor is complicated in manufacturing process and high in production cost.
  • the optimized winding design that optimizes the cogging and the magnetic pole has the characteristics of high cost performance, but it is only suitable for low speed servo motors with a magnetic pole number greater than 20.
  • the motor has excellent performance and high cost performance, but it is still lacking.
  • the size of the two teeth with the windings is different, it brings a lot of inconvenience to the manufacturing.
  • the processing molds, tooling and processes of the teeth are not consistent, and the processing molds, tooling and processes of the windings are not consistent; more serious is Due to the different spatial dimensions of the slots, the number of turns and the diameter of the two windings of each phase cannot be consistent, which adversely affects the performance of the motor.
  • the torque generated by the currents of the two windings is spatially asymmetrical.
  • the large, medium and small tooth structure of the motor is not strong enough to suppress the positioning torque.
  • the electric angle of the two teeth of each phase of the motor is: 200° ⁇ 20° and 160° ⁇ 20°, and the opposite potential waveform has a flat top area of 120° or more, which can realize a square wave permanent magnet servo motor.
  • the invention solves the problems existing in the existing sine wave permanent magnet servo motor and square wave permanent magnet servo motor, and proposes a new principle, new structure, high performance and high cost performance three-phase permanent magnet servo motor.
  • the four teeth include twelve large teeth, six small teeth, and six smaller micro teeth;
  • the three-phase windings are twelve concentrated windings respectively mounted on the twelve large teeth, and the order of the windings and teeth is arranged: small teeth ⁇ large teeth with A-phase windings ⁇ micro-tooth ⁇ C-phase Large teeth of the winding ⁇ small teeth ⁇ large teeth with B-phase winding ⁇ micro-tooth ⁇ large teeth with A-phase winding ⁇ small teeth ⁇ large teeth with C-phase wind
  • the N and S magnetic poles of the respective permanent magnets on the rotor core are arranged in phase, and the permanent magnets may be radially magnetized tile-shaped magnetic steel or parallel magnetized tile-shaped magnetic steel.
  • both sides of the outer circumference of the tile-shaped magnetic steel are provided with a chamfer having an angle of not more than 7.5° and a length not greater than 1/4 of the outer arc of the magnetic steel.
  • the physical air gap between the stator and the rotor may be 0.5 to 4 mm.
  • the stator core is composed of thirteen parts, and comprises an integral annular core formed by laminating a plurality of silicon steel sheets containing six small teeth and six micro teeth. Twelve independent large tooth cores of multi-layer silicon steel sheets which are self-slewing and pressing; the yoke portion and the large tooth iron core of the annular iron core are respectively provided with grooves/protrusions, and are engaged with each other to form a complete Stator core.
  • the stator core is also composed of thirteen parts, and comprises an integral annular core formed by laminating a plurality of layers of silicon steel sheets containing twelve large teeth.
  • Six independent small-toothed iron cores obtained by self-staking and lamination of silicon steel sheets, and six independent micro-tooth cores formed by self-staking and lamination of multi-layer silicon steel sheets; yoke and small of the annular iron core Grooves/protrusions are respectively arranged on the teeth and the micro-tooth cores, and are engaged with each other to form a complete stator core.
  • the stator core is composed of twenty-four parts, that is, twelve independent large teeth, six independent small teeth, and six, which are self-slewing and pressing from a plurality of layers of silicon steel sheets. Independent micro-tooth; each side of the yoke of each tooth is provided with a groove/projection, and the yokes of adjacent teeth mesh with each other to form a complete stator core.
  • the large tooth width is not easily affected by the armature reaction, so that the motor has a stronger overload capability; the two non-uniform small teeth are dedicated to suppress the positioning torque and reduce the positioning torque to one ten thousandth.
  • the motor has only two concentrated windings per phase, and the two concentrated winding structures and the number of turns are identical, the manufacturing is simple, the process is consistent, and the production cost is low.
  • the output of the motor is 30% larger than that of the conventional sine wave permanent magnet servo motor, and the winding end is more than three times smaller than the conventional sine wave permanent magnet servo motor, so the copper consumption is greatly reduced.
  • the three-phase permanent magnet servo motor is driven by a three-phase square wave current, it can generate a stable torque, and its torque fluctuation index is equivalent to that of a sine wave permanent magnet servo motor.
  • the three-phase permanent magnet servo motor has a series of advantages such as small winding end, less copper, low loss, small air gap and small magnetic load, small positioning torque and strong overload capability.
  • FIG. 1 is a schematic view showing the structure of a stator and a rotor of a motor in a preferred embodiment of the present invention
  • Figure 2 is a schematic view showing the assembly structure of a motor in a preferred embodiment of the present invention
  • FIG 3 is a schematic view showing the angular distribution of the stator slots in the embodiment shown in Figure 1;
  • FIG. 4 is a schematic structural view of a stator punch formed by inlaid large teeth
  • Figure 5 is a schematic view showing the structure of the stator punching piece formed by the small teeth and the micro teeth;
  • Figure 6 is a schematic view showing the structure of twenty-four teeth independently and interlocking with each other;
  • Fig. 7 is a schematic view showing the structure of a rotor of a sine wave magnetic field motor.
  • FIG. 1 A preferred embodiment of the invention is illustrated in Figures 1 and 2.
  • the general structure of the three-phase permanent magnet servo motor can be seen from Fig. 2, the main components of which include the rotor 1, the stator 2, the rotating shaft 30, etc., and the physical air gap 5 between the rotor 1 and the stator 2 is 0.5 to 4 mm.
  • the rotor position sensor 6 may be any one of a photoelectric encoder, a resolver, and a magnetic encoder.
  • the permanent magnet 4 may be a radially magnetized tile-shaped magnetic steel or a parallel magnetized tile-shaped magnetic steel.
  • the physical dimension of the pole pitch ⁇ D/8 of the permanent magnet on the rotor core is 50 to 200 mm, where D is the outer diameter of the rotor.
  • the line back EMF waveform of this structure still tends to be a sine wave, and the three-phase sinusoidal stator current is driven by the sine wave current.
  • the product of the 3rd and 6th harmonics in the three-phase opposite potential square wave does not exhibit torque fluctuation, and the output power of the motor is increased by about 30%.
  • the width of the slot 3 of the stator slot is 0.1 to 3 mm; It includes twelve large windings of the windings, six small teeth 9 without windings, and six micro-tooths 10 without windings, and the small teeth ⁇ large teeth ⁇ micro-tooth ⁇ large teeth ⁇ small in the circumference
  • the order of the teeth ⁇ large teeth ⁇ micro teeth ⁇ large teeth ⁇ small teeth ⁇ large teeth ⁇ micro teeth ⁇ large teeth is arranged, that is, twelve grooves are formed. Among them, three-phase windings are installed only on the twelve large teeth 8, and the windings on each large tooth have two winding sides and occupy one groove on both sides thereof.
  • each large tooth on the stator core occupies a mechanical angle of 22.5° on the circumference, that is, an electrical angle of 180°; each small tooth occupies a mechanical angle of 10° on the circumference, that is, an electrical angle of 80°;
  • the circumferential mechanical angle of each tooth includes a width of the notch 3.
  • the small mechanical position of the small tooth shown in FIG. 3 is 10°, which is the width of a small tooth plus the width of each half of the notch.
  • the circumferential mechanical angle of the notch (3) in this embodiment is 1.0 mm.
  • the opposite potential flat top region of this embodiment is correspondingly optimal. This uneven cogging structure ensures both three-phase symmetry and the positioning torque.
  • twelve three-phase windings are concentrated windings, and the stator windings are respectively wound directly on the large teeth subjected to surface insulation by a winding machine, and the order of windings and teeth is: ⁇ small teeth ⁇ loading Large teeth of the A-phase winding ⁇ micro-tooth ⁇ large teeth of the C-phase winding ⁇ small teeth ⁇ large teeth with B-phase windings ⁇ micro-tooth ⁇ large teeth with A-phase windings ⁇ small teeth ⁇ large teeth with C-phase windings ⁇ Micro-tooth ⁇ large teeth of B-phase winding ⁇ small teeth ⁇ large teeth with A-phase winding ⁇ micro-tooth ⁇ large teeth with C-phase winding ⁇ small teeth ⁇ large teeth with B-phase winding ⁇ micro-tooth ⁇ install A Large teeth of the phase winding ⁇ small teeth ⁇ large teeth of the C phase winding ⁇ micro teeth ⁇ large teeth of the B phase winding; as shown in Figure 1.
  • the two concentrated windings in each phase are connected in series, which reduces wiring and simplifies the process. It can be seen that the motor has only two concentrated windings per phase, and the three-phase motor has only twelve concentrated windings. The total number of windings of the motor is very small, which greatly simplifies the motor structure and reduces the cost, and the winding ends are reduced to the conventional motor. 1/3 to 1/6 or more, which has been minimized, so copper consumption has dropped significantly.
  • the stator core is composed of thirteen parts interlocking and splicing, including self-staking pressure of a plurality of silicon steel sheets containing six small teeth 9 and six micro teeth 10.
  • the integrated annular core 11 is composed of twelve independent large tooth cores 8 formed by laminating a plurality of layers of silicon steel sheets; the yoke portion of the annular core 11 and the large tooth core 8 are respectively provided Grooves/studs and snap to each other to form a complete stator core.
  • four series A-phase windings can be wound on the four large-tooth cores of the A-phase, and four series-connected B-phase windings can be wound on the four large-tooth cores of the B-phase.
  • Four large-toothed iron cores of phase C are wound around four series C-phase windings, and then twelve large-tooth iron cores with A, B, and C three-phase windings are embedded in the toroidal core 11 to form Stator core assembly with A, B, C three-phase windings.
  • the independent large-tooth iron core can be easily insulated, and then the large-tooth iron core is wound by an automatic or semi-automatic winding machine. Its winding manufacturing process is very good; at the same time, the overall structure of the toroidal core 11 can fully guarantee the geometric accuracy of the stator core assembly.
  • A, B, C three-phase symmetrical winding, and the positioning torque is very good.
  • the motor can be driven by three-phase square wave current or three-phase sinusoidal current, which can produce a stable torque, and has a small winding end, less copper, less loss, small air gap, small positioning torque and strong overload capability.
  • the integral annular core 12 includes twelve large teeth, and six small teeth 9 and six micro teeth. 10 is independent, but also bite each other to form a complete stator core.
  • the twelve large teeth are first insulated; since the small teeth and micro-tooth are not installed at this time, the opening of the toroidal core 12 is large, and the automatic winding machine can be used to wind the large teeth 8 Phase winding. For example, firstly wrap four series A-phase windings on the four large teeth of the A-phase, and then wrap four series-connected B-phase windings on the four large teeth of the B-phase, and then four in the C-phase.
  • the motor can be driven by three-phase square wave current or three-phase sinusoidal current, which can produce a stable torque, and has a small winding end, less copper, less loss, small air gap, small positioning torque and strong overload capability.
  • each side of the yoke of each tooth is provided with a groove/projection, and the yoke portions of adjacent teeth mesh with each other to form a complete stator core.
  • each large tooth occupies a mechanical angle of 22.5° of the circumference, that is, an electrical angle of 180°; each small tooth occupies a mechanical angle of 10° of the circumference, that is, an electrical angle of 80°; each micro-tooth occupies a mechanical angle of 5° of the circumference, that is, 40° Electrical angle.
  • stator windings can be wound on the independent large teeth subjected to surface insulation treatment by an automatic or semi-automatic winding machine or by manual means, and then six large teeth with windings and three teeth are used by the positioning tool.
  • the small teeth without windings and the three micro-toothed windings are assembled into a stator assembly in sequence. After this winding, the two concentrated windings in each phase are connected in series, which reduces wiring and simplifies the process.
  • the motor can be driven by three-phase square wave current or three-phase sinusoidal current, which can produce a stable torque, and has a small winding end, less copper, less loss, small air gap, small positioning torque and strong overload capability.
  • a tile-shaped magnetic steel is used, and the outer circumference of the magnetic steel is provided with an angle on both sides. Not more than 7.5°, the length is not more than the 1/4 of the outer arc of the magnetic steel.
  • the physical air gap between the stator and the rotor of the three-phase permanent magnet servo motor is 2.0 mm.
  • each large tooth on the stator core can occupy a circumferential mechanical angle of 22.5 ° ⁇ 2.5 °, that is, 180 ° ⁇ 20 ° electrical angle; each small tooth occupies a circular machine
  • the angle can be 10 ° ⁇ 2.5 °, that is, 80 ° ⁇ 20 ° electrical angle; each micro tooth can occupy a circumferential mechanical angle of 5 ° ⁇ 2.5 °, that is, 40 ° ⁇ 20 ° electrical angle; likewise, each of the things mentioned here

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Iron Core Of Rotating Electric Machines (AREA)
  • Permanent Magnet Type Synchronous Machine (AREA)

Description

一种三相永磁伺服电动机 技术领域
本发明涉及永磁电动机，更具体地说，涉及一种三相永磁伺服电动机，该电动机适用于直接驱动和位置、速率伺服控制应用。
背景技术
本发明所涉及的永磁直流电动机，主要是指能够有效地产生具有低扭矩波动的伺服电动机。其中，扭矩波动主要包括：较低的齿槽效应扭矩分量(定位力矩)、较低的电流与电势谐波扭矩分量。目前，此类伺服电动机设计的主要目标是：力矩波动小、输出功率大(转速和力矩的乘积大)、过载能力大、体积小、价格低等等。
产生力矩波动的主要原因包括：(1)定子电流谐波与反电势谐波乘积呈现的力矩波动；(2)定子电流为零时转子转动，由于齿槽效应产生磁导变化呈现的定位力矩波动。
抑制力矩波动的主要方法包括：(1)传统的分数槽绕组设计；(2)优化齿槽与磁极配合的集中绕组设计，例如名为“高效永磁无刷电动机”，公开号CN185692lA的中国发明专利申请。其中，传统的分数槽绕组设计的电机制造工艺复杂、生产成本很高。优化齿槽与磁极配合的集中绕组设计具有性价比高的特点，但其只适应于磁极数大于20的低速伺服电机。
在公开号为CN101371425A的中国发明专利申请中，公开了一种磁极数2P=16，齿槽数Z=24，采用大、中、小齿结构的方波三相无刷永磁直流电动机。该电机具备优异的性能，具有很高的性价比，但仍有欠缺。由于它装有绕组的两个齿的大小不同，给制造带来许多不便，例如，齿的加工模具、工装、工艺均不能一致，绕组的加工模具、工装、工艺也不能一致；更严重的是：由于槽的空间尺寸不同，必然导致每相的两个绕组的匝数、线径不能一致，从而对电机性能造成不良影响，例如导致两个绕组的电流产生的力矩在空间不对称。此外该电机的大、中、小齿结构，对于定位力矩的抑制作用不够强。该电机的每相两个齿的电角度为:200°±20°和160°±20°，其相反电势波形具有120°以上的平顶区，可以实现方波永磁伺服电机。然而为了获得最高的绕组利用率和最宽的平顶区，理想电角度应为180°，该电机偏离理想电角度±20°，必然导致其绕组利用率下降为sin(140°/180°×90°)=0.940，且该电机的相反电势平顶区也因此并非最佳。
发明内容
本发明要解决现有正弦波永磁伺服电动机和方波永磁伺服电动机所存在的问题，提出一种新原理、新结构、高性能、高性价比的三相永磁伺服电动机。
为解决上述技术问题，本发明提供一种三相永磁伺服电动机，所述电动机的转子铁芯上装有多对永磁体，定子的齿槽中装有三相绕组，其中， 所述转子铁芯上的磁极数2P=16；所述定子铁芯的槽数Z=24，相应有二十四个齿，所述槽的槽口宽度为0.1～3.0mm；所述二十四个齿中包括十二个大齿、六个小齿、以及六个更小的微齿； 所述三相绕组为十二个集中绕组，分别装于所述十二个大齿上，所述绕组和齿的排列次序：小齿→装A相绕组的大齿→微齿→装C相绕组的大齿→小齿→装B相绕组的大齿→微齿→装A相绕组的大齿→小齿→装C相绕组的大齿→微齿→装B相绕组的大齿→小齿→装A相绕组的大齿→微齿→装C相绕组的大齿→小齿→装B相绕组的大齿→微齿→装A相绕组的大齿→小齿→装C相绕组的大齿→微齿→装B相绕组的大齿； 所述定子铁芯上的每个大齿占圆周22.5°±2.5°机械角度，即180°±20°电角度；每个小齿占圆周10°±2.5°机械角度，即80°±20°电角度；每个微齿占圆周5°±2.5°机械角度，即40°±20°电角度；其中每个齿所占圆周机械角度包含一个所述槽口的宽度，且其中四个大齿、两个小齿、再加上两个微齿的机械角度之和等于120°。
本发明中，所述转子铁芯上各个永磁体的N、S磁极相间排列，所述永磁体可以是径向充磁的瓦形磁钢、或者是平行充磁的瓦形磁钢。所述瓦形磁钢的外圆两侧最好设有角度不大于7.5°、长度不大于磁钢的外圆弧长1/4的削角。所述定子与转子之间的物理气隙可为0.5～4mm。
本发明的一个优选方案中，所述定子铁芯由十三部分组成，包括含有六个小齿和六个微齿的由多层硅钢片自铆迭压而成的一体式环形铁芯，由多层硅钢片自铆迭压而成的十二个独立的大齿铁芯；所述环形铁芯的轭部和大齿铁芯上分别设有凹槽/凸台，并互相咬合形成完整的定子铁芯。
本发明的另一个优选方案中，所述定子铁芯也由十三部分组成，包括含有十二个大齿的由多层硅钢片自铆迭压而成的一体式环形铁芯，由多层硅钢片自铆迭压而成的六个独立的小齿铁芯、以及由多层硅钢片自铆迭压而成的六个独立的微齿铁芯；所述环形铁芯的轭部和小齿、微齿铁芯上分别设有凹槽/凸台，并互相咬合形成完整的定子铁芯。
本发明的另一个优选方案中，所述定子铁芯由二十四部分组成，即包括由多层硅钢片自铆迭压而成的十二个独立大齿、六个独立小齿、以及六个独立微齿；每个齿的轭部两侧设有凹槽/凸台，相邻齿的轭部互相咬合形成完整的定子铁芯。
由上述技术方案可知，本发明的三相永磁伺服电动机的磁极数为2P=16，装有绕组的大齿占180°电角度，使其相反电势波形具有近135°电角度的平顶区，而且大齿宽不容易受电枢反应影响，使电机具有更强的过载能力；两种非均匀小齿专用于抑制定位力矩，使定位力矩减小至万分之一水平。该电动机每相只有两个集中绕组，且两个集中绕组结构和匝数完全相同，制造简单、工艺一致，生产成本很低。该电动机的出力比传统正弦波永磁伺服电机大30%，绕组端部比传统正弦波永磁伺服电机小3倍以上，所以铜耗大幅度减少。该三相永磁伺服电动机采用三相方波电流驱动时，能产生平稳的力矩，其力矩波动指标与正弦波永磁伺服电机相当。该三相永磁伺服电动机具有绕组端部小、用铜少、损耗小、气隙小磁负荷高、定位力矩小和过载能力强等一系列优点。
附图说明
图1是本发明一个优选实施例中电动机的定、转子结构示意图；
图2是本发明一个优选实施例中电动机总装结构示意图；
图3是图1所示实施例中的定子齿槽角度分布示意图；
图4是镶嵌大齿构成定子冲片的结构示意图；
图5是镶嵌小齿和微齿构成定子冲片的结构示意图；
图6是二十四个齿分别独立并互相咬合的结构示意图；
图7是正弦波磁场电机的转子结构示意图。
具体实施方式
本发明的一个优选实施例如图1和图2所示。从图2中可以看出这种三相永磁伺服电动机的大致结构，其主要部件包括转子1、定子2、转轴30等，转子1与定子2之间的物理气隙5为0.5～4mm。转子位置传感器6，可以是光电编码器、旋转变压器、磁编码器中任何一种。
从图1中可以看出，在转子铁芯上装有八对极的永磁体4，这些永磁体N、S相间排列，转子的磁极数2P=16。具体实施时，永磁体4可以是径向充磁的瓦形磁钢、或者是平行充磁的瓦形磁钢。转子铁芯上的永磁体的极距πD/8的物理尺寸是50～200mm，其中D是转子外径。这种结构可以获得趋于135°方波的相反电势波形，与方波定子电流配合可实现力矩波动很小的方波永磁伺服电机运行。由于两相反电势方波中的3、6次谐波相位相同，相减为零，因此这种结构的线反电势波形仍趋于正弦波，采用正弦波电流驱动时三相正弦波定子电流与三相相反电势方波中的3、6次谐波的乘积不呈现力矩波动，而且电机的输出功率获得约30%的提升。
从图1中可以看出，定子齿槽的数目Z=24，即对应有二十四个齿和十二个槽；定子槽的槽口3的宽度为0.1～3mm；二十四个齿中包括十二个装绕组的大齿8、不装绕组的六个小齿9、以及不装绕组的六个微齿10，并在圆周内按小齿→大齿→微齿→大齿→小齿→大齿→微齿→大齿→小齿→大齿→微齿→大齿这样的次序排布，也即形成十二个槽。其中，仅在十二个大齿8上安装三相绕组，每个大齿上的绕组有两个绕组边、并分别占有其两侧的一个槽。
如图3所示，定子铁芯上的每个大齿占圆周22.5°机械角度，即180°电角度；每个小齿占圆周10°机械角度，即80°电角度；每个微齿占圆周5°机械角度，即40°电角度；为了获得三相对称绕组，四个大齿、两个小齿、再加上两个微齿的机械角度之和4×22.5°+2×10°+2×5°=120°。其中每个齿所占圆周机械角度包含一个槽口3的宽度，例如图3所示的小齿所占圆周机械角度10°就是一个小齿的宽度再加左右各半个槽口的宽度所占的圆周机械角度，本实施例中的槽口(3)的宽度均为1.0mm。
该电机具有最理想的大齿齿宽，电角度为P×22.5°=4×22.5°=180°，因此该电机的绕组利用率最大化为sin(180°/180°×90°)=1.0，该实施例的相反电势平顶区相应达到最佳。这种不均匀的齿槽结构，既确保了三相对称，又抑制了定位力矩。
本实施例中，十二个三相绕组为集中绕组，分别将定子绕组用绕线机或手工直接绕在经表面绝缘处理的大齿上，绕组和齿的排列次序是：→小齿→装A相绕组的大齿→微齿→装C相绕组的大齿→小齿→装B相绕组的大齿→微齿→装A相绕组的大齿→小齿→装C相绕组的大齿→微齿→装B相绕组的大齿→小齿→装A相绕组的大齿→微齿→装C相绕组的大齿→小齿→装B相绕组的大齿→微齿→装A相绕组的大齿→小齿→装C相绕组的大齿→微齿→装B相绕组的大齿；具体如图1所示。
如此绕制后,每相两个集中绕组之间是串联的，减少了接线，简化了工艺。可见，该电动机每相仅有两个集中绕组，三相电动机仅有十二个集中绕组，电动机的绕组总数非常少，大大简化了电动机结构，降低了成本，同时绕组端部减少到传统电动机的1/3～1/6甚至更多，达到了最小化，于是铜耗大幅下降。
如图4所示，本发明一个实施例中，定子铁芯由十三部分互相咬合和拼接所组成，包括含有六个小齿9和六个微齿10的由多层硅钢片自铆迭压而成的一体式环形铁芯11，由多层硅钢片自铆迭压而成的十二个独立的大齿铁芯8；环形铁芯11的轭部和大齿铁芯8上分别设有凹槽/凸台，并互相咬合形成完整的定子铁芯。
针对这种结构，可先在A相的四个大齿铁芯上绕好四个串联的A相绕组，在B相的四个大齿铁芯上绕好四个串联的B相绕组，在C相的四个大齿铁芯上绕好四个串联的C相绕组，然后将十二个装有A、B、C三相绕组的大齿铁芯嵌入到环形铁芯11上，即构成装有A、B、C三相绕组的定子铁芯组件。该实施例中，可以很方便地对独立的大齿铁芯进行绝缘处理，然后用自动或半自动绕线机对大齿铁芯实施绕线。它的绕组制造工艺性很好；同时，采用整体结构环形铁芯11可充分保证定子铁芯组件的几何精度。
本实施例中的电机具有理想的齿宽设计，分别为大齿23°、小齿9°、微齿5°，2×(2×23°+9°+5°)=120°，可构成A、B、C三相对称绕组，且定位力矩抑制的很好。该电动机可采用三相方波电流或三相正弦波电流驱动，都能产生平稳的力矩，并具有绕组端部小、用铜少、损耗小、气隙小、定位力矩小和过载能力强等一系列优点。
如图5所示，本发明的另一实施例中，与图4所示实施例相反，其一体式环形铁芯12上包含十二个大齿，而六个小齿9和六个微齿10是独立的，同样是互相咬合形成完整的定子铁芯。
具体装配时，先对十二个大齿实施绝缘处理；由于此时未装小齿和微齿，环形铁芯12的开口很大，完全可以使用自动绕线机在大齿8上绕制各相绕组。例如先在A相的四个大齿上分别绕好四个串联的A相绕组，再在B相的四个大齿上分别绕好四个串联的B相绕组，再在C相的四个大齿铁芯上分别绕好四个串联的C相绕组，然后将实施绝缘处理后的六个小齿铁芯和六个微齿铁芯嵌入环形铁芯12的轭部，构成装有A、B、C三相绕组的定子铁芯组件。
该电动机可采用三相方波电流或三相正弦波电流驱动，都能产生平稳的力矩，并具有绕组端部小、用铜少、损耗小、气隙小、定位力矩小和过载能力强等一系列优点。
如图6所示，本发明另一实施例中，有十二个独立的齿，即包括由多层硅钢片自铆迭压而成的十二个独立大齿、六个独立小齿、以及六个独立微齿；每个齿的轭部两侧设有凹槽/凸台，相邻齿的轭部互相咬合形成完整的定子铁芯。其中，每个大齿占圆周22.5°机械角度，即180°电角度；每个小齿占圆周10°机械角度，即80°电角度；每个微齿占圆周5°机械角度，即40°电角度。
本实施例中，可将定子绕组用自动、半自动绕线机、或手工方式先绕制在经表面绝缘处理的独立大齿上，然后利用定位工装，将六个有绕组的大齿、三个无绕组的小齿、以及三个无绕组的微齿按次序互相咬合拼装成定子组件。如此绕制后,每相两个集中绕组之间是串联的，减少了接线，简化了工艺。
该电动机可采用三相方波电流或三相正弦波电流驱动，都能产生平稳的力矩，并具有绕组端部小、用铜少、损耗小、气隙小、定位力矩小和过载能力强等一系列优点。
如图7所示，本发明的又一实施例中，为了获得趋于正弦波的气隙磁场或正弦波的相反电势波形，采用了瓦形磁钢，磁钢的外圆两侧设有角度不大于7.5°、长度不大于磁钢的外圆弧长1/4的削角。该三相永磁伺服电动机定子与转子之间的物理气隙为2.0mm。如此设计后可以获得趋于正弦波的气隙磁场或正弦波的相反电势波形。于是三相定子电流中即使存在非正弦，也不至于产生过大的力矩波动。该电动机采用三相正弦波电流驱动，能产生平稳的力矩，并具有绕组端部小、用铜少、损耗小、气隙小、定位力矩小和过载能力强等一系列优点。
本发明并不限于上述具体实施例，其中，定子铁芯上的每个大齿所占圆周机械角度可为22.5°±2.5°，即180°±20°电角度；每个小齿占圆周机械角度可为10°±2.5°，即80°±20°电角度；每个微齿占圆周机械角度可为5°±2.5°，即40°±20°电角度；同样，这里所讲的每个齿所占圆周机械角度包含槽口3的宽度，同时需保证每四个大齿、两个小齿、再加上两个微齿的机械角度之和等于120°；例如大齿22°、小齿9.5°、微齿6.5°，2×(2×22°+9.5°+6.5°)=120°，又例如大齿23°、小齿10°、微齿4°，2×(2×23°+10°+4°)=120°，等等。
本发明的电机具有最接近理想的大齿齿宽，其电角度为180°±20°，因此其绕组利用率大于0.985(sin(200°/180°×90°)=0.985)，该电机的相反电势平顶区相应达到最佳化。

Claims (9)

  1. 一种三相永磁伺服电动机，所述电动机的转子铁芯(1)上装有多对永磁体(4)，定子(2)的齿槽中装有三相绕组，其特征在于，所述转子铁芯上的磁极数2P=16；所述定子铁芯的槽数Z=24，相应有二十四个齿，所述槽的槽口(3)宽度为0.1～3.0mm；所述二十四个齿中包括十二个大齿(8)、六个小齿(9)、以及六个更小的微齿(10)；所述三相绕组为十二个集中绕组，分别装于所述十二个大齿上，所述绕组和齿的排列次序：小齿→装A相绕组的大齿→微齿→装C相绕组的大齿→小齿→装B相绕组的大齿→微齿→装A相绕组的大齿→小齿→装C相绕组的大齿→微齿→装B相绕组的大齿→小齿→装A相绕组的大齿→微齿→装C相绕组的大齿→小齿→装B相绕组的大齿→微齿→装A相绕组的大齿→小齿→装C相绕组的大齿→微齿→装B相绕组的大齿；所述定子铁芯上的每个大齿占圆周22.5°±2.5°机械角度，即180°±20°电角度；每个小齿占圆周10°±2.5°机械角度，即80°±20°电角度；每个微齿占圆周5°±2.5°机械角度，即40°±20°电角度；其中每个齿所占圆周机械角度包含一个所述槽口(3)的宽度，且其中四个大齿、两个小齿、再加上两个微齿的机械角度之和等于120°。
  2. 根据权利要求1所述的三相永磁伺服电动机，其特征在于，所述转子铁芯上各个永磁体的N、S磁极相间排列，所述永磁体是径向充磁的瓦形磁钢、或者是平行充磁的瓦形磁钢。
  3. 根据权利要求2所述三相永磁伺服电动机，其特征在于，所述瓦形磁钢的外圆两侧设有角度不大于7.5°、长度不大于磁钢的外圆弧长1/4的削角。
  4. 根据权利要求3所述的三相永磁伺服电动机，其特征在于，所述定子与转子之间的物理气隙为0.5～4mm。
  5. 根据权利要求1-4中任一项所述的三相永磁伺服电动机，其特征在于，所述定子铁芯由十三部分组成，包括含有六个小齿和六个微齿的由多层硅钢片自铆迭压而成的一体式环形铁芯(11)，由多层硅钢片自铆迭压而成的十二个独立的大齿铁芯(8)；所述环形铁芯的轭部和大齿铁芯上分别设有凹槽/凸台，并互相咬合形成完整的定子铁芯。
  6. 根据权利要求5所述的三相永磁伺服电动机，其特征在于，其中先在四个大齿铁芯上绕四个串联的A相绕组，在另四个大齿铁芯上绕四个串联的B相绕组，在另四个大齿铁芯上绕四个串联的C相绕组，然后将所述十二个装有绕组的大齿铁芯分别嵌入所述环形铁芯(11)中，构成装有A、B、C三相绕组的定子铁芯组件。
  7. 根据权利要求1-4中任一项所述的三相永磁伺服电动机，其特征在于，所述定子铁芯由十三部分组成，包括含有十二个大齿的由多层硅钢片自铆迭压而成的一体式环形铁芯(12)，由多层硅钢片自铆迭压而成的六个独立的小齿铁芯、以及由多层硅钢片自铆迭压而成的六个独立的微齿铁芯；所述环形铁芯的轭部和小齿、微齿铁芯上分别设有凹槽/凸台，并互相咬合形成完整的定子铁芯。
  8. 根据权利要求7所述的三相永磁伺服电动机，其特征在于，其中先在所述环形铁芯上对十二个大齿实施绝缘处理，然后分别绕制A、B、C三相绕组，再将六个小齿铁芯和六个微齿铁芯嵌入所述环形铁芯(12)的轭部，构成装有A、B、C三相绕组的定子铁芯组件。
  9. 据权利要求1-4中任一项所述的三相永磁伺服电动机，其特征在于，所述定子铁芯由二十四部分组成，即包括由多层硅钢片自铆迭压而成的十二个独立大齿、六个独立小齿、以及六个独立微齿；每个齿的轭部两侧设有凹槽/凸台，相邻齿的轭部互相咬合形成完整的定子铁芯。
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TWI780724B (zh) * 2020-06-18 2022-10-11 日商東芝股份有限公司 旋轉電機
CN115833523A (zh) * 2022-12-09 2023-03-21 中国矿业大学 一种双边永磁体励磁横向磁通切换直线电机
WO2025104325A1 (en) * 2023-11-17 2025-05-22 Safran Electrical And Power Uk Ltd Stator assembly

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