CN-119787675-B - High-expansibility strong-coupling two-degree-of-freedom switch reluctance motor and control method thereof

CN119787675BCN 119787675 BCN119787675 BCN 119787675BCN-119787675-B

Abstract

The invention discloses a high-expansibility strong-coupling two-degree-of-freedom switch reluctance motor and a control method thereof, wherein the high-expansibility strong-coupling two-degree-of-freedom switch reluctance motor comprises a plurality of annular stators and active cells, wherein any annular stators have the same structure and adopt independent enhanced E-type modular structures, and the annular stators and the active cells are arranged in a radial nested manner; the rotor comprises an annular rotor yoke, salient pole rotor teeth which are uniformly arranged along the circumferential direction and the axial direction, a rotating shaft and a bearing, and an annular rotor core is sleeved on the rotating shaft through the bearing. The annular stator in the invention adopts an independent E-type modular and multiphase multi-ring structure, thereby enhancing fault tolerance capability and effectively increasing power density and efficiency while meeting the operation requirements of the motor under different working conditions.

Inventors

XU SHUAI
WU LEI
ZHANG KUAN
NIE RUI
SI JIKAI
WANG PEIXIN
HAN GUOQIANG
CHENG HE

Assignees

郑州大学

Dates

Publication Date: 20260508
Application Date: 20241203

Claims (11)

1. A control method of a high-expansibility strong-coupling two-degree-of-freedom switch reluctance motor is characterized by comprising a plurality of annular stators and a plurality of movers, wherein the annular stators are identical in structure, the m annular stators and the movers are arranged in a radial nested manner, each annular stator comprises an annular stator iron core and a concentrated winding, and the annular stator iron core is formed by Each independent enhanced E-type stator module is composed, and adjacent enhanced E-type stator modules are spaced The number of teeth of the annular stator is The independent reinforced E-shaped stator module is provided with trapezoid grooves in the circumferential direction, the trapezoid grooves are opened towards the axle center, the concentrated windings are arranged in the trapezoid grooves, and the single annular stators are shared The rotor comprises a rotor yoke, salient pole rotor teeth, a rotating shaft and a bearing which are uniformly arranged along the circumferential direction and the axial direction of the surface, wherein an annular stator iron core is sleeved on the rotating shaft through the bearing; The linear unit and the rotary unit share a set of windings, and the stator teeth and the rotor teeth simultaneously generate a thrust component and a torque component under the condition of axial and radial misalignment; in the case of any number of annular stators, the driving signals of windings on the teeth of each annular stator are respectively controlled to respectively generate thrust force F 1 、F 2 、F 3 、… 、F m and torque T 1 、T 2 、T 3 、… 、T m , and then the total thrust force and total torque generated by the annular stators can be respectively expressed as the following formulas: , The motor can realize decoupling control of linear motion, rotary motion and spiral motion by controlling the current of windings on each annular stator tooth; The decoupling control of the linear motion, the rotary motion and the spiral motion is realized by a motor, and the decoupling control comprises the following steps of A, collecting the real-time rotary mechanical angle position theta and the linear position x of a rotor, judging the excitation state of each phase of an annular stator winding, B, adjusting the thrust component F 1 、F 2 、F 3 、… 、F m and the torque component T 1 、T 2 、T 3 、… 、T m generated by a single stator through adjusting the driving signal of the winding, wherein the step is to obtain the torque component T 1 、T 2 、T 3 、… 、T m Representing the total thrust produced by the mth annular stator, Representing the total torque produced by the mth annular stator, The (th) denoted as the (th) ring stator ) The thrust generated by the E-type stator module is enhanced, The torque produced by the qth enhanced E-stator module, denoted the mth annular stator; the step C is to control the winding driving signals to make the torque generated by the motor offset each other and generate thrust independently to realize linear motion, to control the winding driving signals to make the thrust generated by the motor offset each other and generate rotation independently to realize rotary motion, and to control the winding driving signals to make the motor generate thrust and torque simultaneously to realize spiral motion.
2. The method for controlling the high-expansibility strong-coupling two-degree-of-freedom switch reluctance motor according to claim 1, wherein the annular stators are placed at equal intervals along the axial direction and have the same angle.
3. The method for controlling a high-expansibility strong-coupling two-degree-of-freedom switch reluctance motor according to claim 1, wherein the bottom of the trapezoid open slot of the independent enhanced E-type stator module and the bottom of the rectangular open slot of the tooth pole are cambered surfaces.
4. The method for controlling a high-expansibility strong-coupling two-degree-of-freedom switched reluctance motor of claim 1, wherein the rectangular open slots of the teeth of the independent enhanced E-type stator modules are equal in size.
5. The method for controlling a high-expansibility strong-coupling two-degree-of-freedom switched reluctance motor according to claim 1, wherein the tooth size of the salient pole mover is adapted to the tooth-pole rectangular open slot size of the enhanced E-type stator module.
6. The method for controlling a highly scalable strongly coupled two-degree-of-freedom switched reluctance motor according to claim 1, wherein the method comprises the steps of I.e. in the case of a single ring stator, the drive signals of the windings on the stator teeth are controlled, while thrust F and torque T are generated, and the motor can realize a helical movement at a specific linear and rotational speed.
7. The method for controlling a highly scalable strongly coupled two-degree-of-freedom switched reluctance motor according to claim 1, wherein the method comprises the steps of In the case of two annular stators, the driving signals of windings on the teeth of the two annular stators are controlled respectively to generate thrust respectively 、 With torque 、 Wherein Representing the total thrust produced by the mth annular stator, Representing the total torque produced by the mth annular stator, The (th) denoted as the (th) ring stator ) The thrust generated by the E-type stator module is enhanced, The q-th enhanced E-type stator module expressed as an mth annular stator generates torque, the total thrust force F=F 1 +F 2 generated by the annular stator generates total torque T=T 1 +T 2 , and the motor can realize decoupling control of linear motion, rotary motion and spiral motion by controlling the current of windings on two annular stator teeth.
8. The method for controlling a highly scalable strongly coupled two-degree-of-freedom switched reluctance motor according to claim 1, wherein the method comprises the steps of In the case of three annular stators, the drive signals of the windings on the teeth of each annular stator are controlled to generate thrust 、 ‘、 With torque 、、 The decoupling control of linear motion, rotary motion and spiral motion can be realized by controlling the current of windings on three annular stator teeth.
9. The method of claim 1, wherein the actual voltage u k1 、u k2 、u k3 、… 、u km is made to follow the variation of u k1 * 、u k2 * 、u k3 * 、… 、u km * by adjusting the phase voltage reference value u k1 * 、u k2 * 、u k3 * 、… 、u km * of each annular stator winding by setting the reference linear velocity v * and the required thrust force F, wherein u km is the k-th phase winding voltage of the mth annular stator, the thrust force generated reaches F, and the torques generated by the simultaneous energization of the three phase windings of the single annular stator cancel each other to obtain At this time, the total torque of the mover is 0 and the total thrust is The mover performs an independent linear motion.
10. The method for controlling a highly scalable strongly coupled two-degree-of-freedom switched reluctance motor according to claim 1, wherein the control method is characterized by a given reference angular velocity * And the required torque T, the actual voltage u k1 、u k2 、u k3 、… 、u km follows the change of u k1 * 、u k2 * 、u k3 * 、… 、u km * by adjusting the phase voltage reference value u k1 * 、u k2 * 、u k3 * 、… 、u km * of each annular stator winding so as to ensure that the generated torque reaches T and the thrust component F 1 、F 2 、F 3 、… 、F m generated by the motor at the moment is obtained, and the thrust generated by each annular stator is used for ensuring that At this time, the total thrust force F of the mover is 0 and the total torque T is The mover performs a single rotational movement.
11. The method of claim 1, wherein three stator rings are used as examples, and the reference angular velocity is determined according to a given reference linear velocity v * and a required thrust force F * And the required torque T is adjusted by adjusting the reference value u k1 * 、u k2 * 、u k3 * 、… 、u km * of the phase voltage of each annular stator winding to ensure that the actual voltage u k1 、u k2 、u k3 、… 、u km follows the change of u k1 * 、u k2 * 、u k3 * 、… 、u km * so as to ensure that the generated total torque reaches Obtaining the thrust component F 1 、F 2 、F 3 、… 、F m generated by the motor at the moment, so as to further lead the generated total thrust to reach The mover performs a spiral motion.

Description

High-expansibility strong-coupling two-degree-of-freedom switch reluctance motor and control method thereof Technical Field The invention relates to a high-expansibility strong-coupling two-degree-of-freedom switch reluctance motor topological structure and a control method thereof, and belongs to the technical field of switch reluctance motors and control thereof. Background The two-degree-of-freedom switch reluctance motor has good application prospect in the fields of industrial robots, boring machines, household appliances, textile machinery and the like due to the advantages of simple structure, high integration level, high reliability, good control performance and the like. The existing two-degree-of-freedom motor is difficult to decouple due to the complex structure and the high coupling of the magnetic circuit between the linear part and the rotary part, so that the motor control difficulty is increased, and the application of the two-degree-of-freedom motor is restricted. Therefore, the high-expansibility strong-coupling two-degree-of-freedom switched reluctance motor topology is provided, the motor is compact in structure, can effectively improve power density, has multiple operation modes, meets the requirement of multi-occasion operation, and can independently realize linear motion and rotary motion by controlling driving signals of windings of each phase on the annular stator by adopting an independent E-type enhancement modular structure to effectively reduce magnetic field coupling strength. However, because the structure of the motor is unique, a specific control method is provided, so that the motor can independently perform linear motion, rotary motion and spiral motion. Disclosure of Invention The invention aims to provide a high-expansibility strong-coupling two-degree-of-freedom switch reluctance motor and a control method thereof, which are used for solving the problems of low power density, serious electromagnetic coupling, difficult decoupling control, few running modes and the like of the existing two-degree-of-freedom motor. In order to achieve the above purpose, the present invention proposes the following technical scheme: The topological structure of the high-expansibility strong-coupling two-degree-of-freedom switch reluctance motor comprises a plurality of annular stators and a rotor, wherein the annular stators are identical in structure, the annular stators and the rotor are in radial nested arrangement, each annular stator comprises an annular stator iron core and concentrated windings, each annular stator iron core is composed of 6n (n=1, 2, 3.) independent enhanced E-type stator modules, the interval between every two adjacent enhanced E-type stator modules is 60 degrees/n, the number of teeth of each annular stator is 18n, each independent enhanced E-type stator iron core is uniformly provided with a trapezoid groove, the opening of each trapezoid groove faces an axle center, the concentrated windings are arranged in the trapezoid grooves, each annular stator is provided with 6n concentrated windings, each independent enhanced E-type stator module is provided with 2 rectangular grooves along the axial direction, each rectangular groove opening faces the axle center, each rotor comprises a rotor yoke, salient pole rotor teeth, a rotating shaft and a bearing which are uniformly arranged along the circumferential direction and the axial direction, and the annular stator iron core is sleeved on the rotating shaft through the bearing. In the technical scheme, the annular stators are placed at equal intervals along the axial direction, and the angles are the same. In the above technical scheme, the bottom of the trapezoid open slot of the independent enhanced E-type stator module and the bottom of the rectangular open slot of the tooth pole are cambered surfaces. In the above technical scheme, the rectangular open slots of the independent enhanced E-type stator module teeth are equal in size. In the technical scheme, the tooth size of the salient pole rotor is matched with the size of the rectangular open slot of the tooth of the enhanced E-type stator module. In the technical scheme, the linear unit and the rotary unit share one set of windings, and the stator teeth and the rotor teeth simultaneously generate a thrust component and a torque component under the condition of axial and radial misalignment. The high-expansibility strong-coupling two-degree-of-freedom switch reluctance motor provided by the invention is characterized in that m=4 and n=1 are taken as an example, four annular stators are taken as four annular stators, three phases of each annular stator are provided with windings on the middle teeth of each independent enhanced E-type stator module, windings on two E-type modules which are 180 degrees apart are connected in series, an A-phase winding, a B-phase winding and a C-phase winding on the annular stator 1 can be respectively formed, a D-phase winding, an E-