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CN-122026646-A - Two-degree-of-freedom motor capable of rotating by oppositely permanent magnet linear drive switch reluctance

CN122026646ACN 122026646 ACN122026646 ACN 122026646ACN-122026646-A

Abstract

The application discloses a two-degree-of-freedom motor capable of achieving opposite permanent magnet linear drive switch reluctance rotation, which comprises a stator assembly fixedly arranged in a machine base and a rotor assembly fixedly connected with a non-magnetic shaft, wherein the stator assembly comprises a stator iron core, a stator permanent magnet, a rotary running winding and a linear running winding, the rotor assembly comprises a rotor iron core and a rotor permanent magnet arranged on the rotor iron core, the stator permanent magnet and the rotor permanent magnet form a bilateral permanent magnet bias magnetic field, the stator permanent magnet and the rotor permanent magnet form an axial electromagnetic thrust through interaction with the bilateral permanent magnet bias magnetic field after being electrified, the rotor assembly is driven to move along the axial direction in a linear mode, the stator iron core is provided with a plurality of stator salient poles, the rotor iron core is provided with a plurality of rotor salient poles, the stator salient poles and the rotor salient poles form a switch reluctance magnetic circuit, and the rotary running winding is wound on the stator salient poles and sequentially electrified to drive the rotor assembly to rotate around an axis according to an excitation sequence. The application realizes the effects of compact structure, high thrust density, high reliability and simplified control.

Inventors

  • YANG KAI
  • LIAO GUANGYU
  • LUO CHENG
  • Kuang Xutao

Assignees

  • 华中科技大学

Dates

Publication Date
20260512
Application Date
20260415

Claims (10)

  1. 1. The two-degree-of-freedom motor capable of driving the switch reluctance to rotate by the opposite permanent magnet straight lines is characterized by comprising a machine base, a non-magnetic-conducting shaft, a stator assembly and a rotor assembly; The stator assembly is fixedly arranged in the machine base and used for rotary driving and linear driving and comprises a stator iron core, a stator permanent magnet, a rotary running winding and a linear running winding; The rotor assembly is fixedly connected with the non-magnetic shaft, moves axially relative to the stator assembly and rotates around an axis, and is used for rotary driving and linear driving, and comprises a rotor iron core and a rotor permanent magnet arranged on the rotor iron core; The stator permanent magnet and the mover permanent magnet are opposite to each other at two sides of the linear air gap to form a bilateral permanent magnet bias magnetic field, and the linear operation winding is electrified to interact with the bilateral permanent magnet bias magnetic field to generate axial electromagnetic thrust so as to drive the mover assembly to move linearly along the axial direction; The stator core is provided with a plurality of stator salient poles along the circumferential direction, the rotor core is provided with a plurality of rotor salient poles along the circumferential direction, the stator salient poles and the rotor salient poles are opposite to each other on two sides of a rotary air gap to form a switch reluctance magnetic circuit, the rotary running winding is wound on the stator salient poles, and is electrified in sequence according to an excitation sequence to generate electromagnetic torque so as to drive the rotor assembly to rotate around an axis.
  2. 2. The two-degree-of-freedom motor of claim 1, wherein the stator core is divided into a plurality of linear driving units in an axial direction, each linear driving unit including a linear tooth portion and a stator permanent magnet disposed between adjacent linear tooth portions; The stator permanent magnets are alternately magnetized along the axial direction, and the magnetizing directions of the adjacent stator permanent magnets are opposite, so that the linear air gap flux density is a periodic magnetic field with N-S poles alternately distributed along the axial direction; The linear running windings are single-phase concentrated windings and are wound on the linear tooth parts, and the linear running windings on the linear tooth parts form a single-phase winding whole according to the same winding direction and connection mode.
  3. 3. The two-degree-of-freedom motor of claim 2, wherein the mover core is of a segmented structure in the axial direction and comprises a plurality of mover core segments, and the mover permanent magnet is arranged between adjacent mover core segments; the rotor permanent magnets are magnetized along the radial direction, and the magnetizing directions of adjacent rotor permanent magnets are opposite, so that the rotor assembly is in a structure form that rotor core sections and rotor permanent magnets are alternately arranged along the axial direction; the stator permanent magnets and the mover permanent magnets are arranged along the axial direction with the same pole distance, so that the magnetic field generated by the stator permanent magnets and the magnetic field generated by the mover permanent magnets are overlapped in a linear air gap to form bilateral opposite permanent magnet bias magnetic field distribution.
  4. 4. The two-degree-of-freedom motor of claim 3 wherein said rotating running windings are multiphase concentrated windings, each phase winding being wound on a plurality of said stator poles, each phase winding being arranged in a predetermined phase sequence in a circumferential direction; the number of phases of the rotary running windings is multiple, the switched reluctance drive circuit is used for independently supplying power, and each phase of windings is sequentially turned on and off according to a rotor position detection signal to generate stepping electromagnetic torque to drive the rotor assembly to continuously rotate.
  5. 5. The two-degree-of-freedom motor of claim 4 wherein each phase of electrical timing, conduction angle and turn-off angle of the rotating running winding are adjusted according to the rotational speed and load requirements to control the rotational output torque and rotational speed; The linear operation winding is powered by a full-bridge or half-bridge power conversion circuit, the axial electromagnetic thrust direction is switched by changing the current direction, and the thrust magnitude is controlled by adjusting the current amplitude.
  6. 6. The opposed permanent magnet linear drive switched reluctance rotary two-degree-of-freedom motor of claim 1 wherein an elastic support structure is optionally provided between the two axial ends of the non-magnetically permeable shaft and the housing, the elastic support structure comprising a mechanical spring having one end connected to the end of the non-magnetically permeable shaft and the other end connected to the housing to provide an axial restoring force to the mover assembly; the mechanical springs are symmetrically arranged at two ends of the non-magnetic-conductive shaft, so that the mover assembly forms a single-degree-of-freedom oscillation system under the combined action of axial electromagnetic thrust and spring restoring force.
  7. 7. The opposed permanent magnet linear drive switched reluctance rotary two degree of freedom motor of claim 6 wherein the resilient support structure further comprises axial stop members disposed at both ends of travel of the mover assembly for limiting maximum axial displacement of the mover assembly; the stiffness of the mechanical spring is matched according to the equivalent mass of the mover assembly and the target oscillation frequency.
  8. 8. The two-degree-of-freedom motor of claim 1 wherein the stator core and the mover core are each laminated with a magnetically permeable material, the non-magnetically permeable shaft being made of a non-magnetically permeable metallic material or a non-metallic composite material; the stator permanent magnet and the rotor permanent magnet are made of permanent magnet materials and are fixed in or on the surface of the corresponding iron core groove.
  9. 9. The opposed permanent magnet linear drive switched reluctance rotary two degree of freedom motor of claim 8 wherein the linear running winding and the rotary running winding take the form of concentrated windings with winding ends at axial ends of the stator core; And a bearing is arranged between the stator assembly and the rotor assembly and used for supporting the rotor assembly and reducing motion friction.
  10. 10. A control method of a two-degree-of-freedom motor for rotating an opposed permanent magnet linear drive switched reluctance motor, based on the two-degree-of-freedom motor for rotating an opposed permanent magnet linear drive switched reluctance motor according to any one of claims 1 to 9, characterized by comprising a linear drive control mode and a rotational drive control mode; The linear driving control mode comprises the steps of introducing direct current or pulse current into a linear running winding, enabling an armature magnetic field generated by the linear running winding to interact with a bilateral permanent magnet bias magnetic field formed by a stator permanent magnet and a rotor permanent magnet to generate axial electromagnetic thrust; Detecting the position of a rotor, sequentially electrifying each phase of rotary operation winding according to a preset excitation sequence according to a rotor position signal, so that an electromagnetic attraction moment is formed between a stator salient pole and a rotor salient pole, and driving a rotor assembly to continuously rotate; The linear driving control mode and the rotary driving control mode are independently executed or simultaneously executed, so that two-degree-of-freedom output of linear motion, rotary motion or linear-rotary composite motion is realized.

Description

Two-degree-of-freedom motor capable of rotating by oppositely permanent magnet linear drive switch reluctance Technical Field The application relates to the technical field of permanent magnet motors, in particular to a two-degree-of-freedom motor with opposite permanent magnet linear drive switch reluctance rotation. Background The driving requirement of the composite output of the linear motion and the rotary motion is widely applied to the fields of industrial automation, intelligent equipment, robot joints, medical instruments, aerospace electromechanical actuating systems and the like. As equipment is developed in the integrated, lightweight, and high dynamic directions, there is an increasing demand for a two-degree-of-freedom drive unit capable of simultaneously outputting linear motion and rotational motion. The traditional solution is generally to adopt independent linear motor and rotating electrical machines to be respectively configured, and output the movements of the two to the same execution end through a mechanical structure, or adopt the rotating electrical machines to be matched with transmission mechanisms such as a lead screw, a gear rack, a crank connecting rod and the like to realize the conversion of movement forms. In the prior art, in order to realize the linear and rotary compound motion, the conventional practice mainly comprises two types, namely, a linear motor and a rotary motor are structurally connected in series, share the same output shaft, realize independent or cooperative output of the linear and rotary motion through separate control, and the other type is that on the basis of a single motor structure, the motors respectively output the linear motion or the rotary motion in different working modes through additionally arranging electromagnetic clutch, mechanical switching or special magnetic circuit design. However, the above-described prior art still has the following technical problems. Firstly, a mode that a linear motor and a rotary motor are respectively configured or arranged in series is adopted, so that the axial length and the volume of the whole machine are obviously increased, the structural redundancy is high, the power density is low, and the requirement of a compact application scene is difficult to meet; in the scheme of the existing integrated two-degree-of-freedom motor, a linear driving side adopts a single-side permanent magnet structure or a pure electric excitation structure, the air gap flux density is not fully utilized, the output thrust per unit volume is low, the requirements of high thrust and high dynamic reciprocating driving are difficult to meet, the third rotating driving side adopts a permanent magnet synchronous structure, the permanent magnet demagnetizing risk exists under the complex working conditions of high temperature, strong impact and the like, the reliability of the system is limited, and the fourth scheme adopts a multiphase driving structure, so that the topological complexity and the control difficulty of the power converter are increased, and the simplification and the cost control of the system are not facilitated. Disclosure of Invention Aiming at least one defect or improvement requirement of the prior art, the invention provides a two-degree-of-freedom motor for linearly driving a switch reluctance to rotate by opposing permanent magnets, which is used for solving the problems of large volume, low power density, insufficient linear side thrust density, insufficient demagnetization risk reliability on a rotating side and high control complexity and cost caused by linear side multiphase driving in the prior art. In order to achieve the above object, according to a first aspect of the present invention, there is provided a two-degree-of-freedom motor for linearly driving switched reluctance rotation by opposing permanent magnets, comprising a housing, a non-magnetically permeable shaft, a stator assembly and a mover assembly; The stator assembly is fixedly arranged in the machine base and used for rotary driving and linear driving and comprises a stator iron core, a stator permanent magnet, a rotary running winding and a linear running winding; The rotor assembly is fixedly connected with the non-magnetic shaft, moves axially relative to the stator assembly and rotates around the axis, and is used for rotary driving and linear driving, and comprises a rotor iron core and a rotor permanent magnet arranged on the rotor iron core; The stator permanent magnet and the rotor permanent magnet are opposite to each other at two sides of the linear air gap to form a bilateral permanent magnet bias magnetic field, and after the linear operation winding is electrified, the stator permanent magnet and the rotor permanent magnet interact with the bilateral permanent magnet bias magnetic field to generate axial electromagnetic thrust so as to drive the rotor assembly to move linearly along the axial direction; the stator core is provide