JP6516924B2 - motor - Google Patents

Description

  The present invention relates to a motor having an armature provided with a permanent magnet.

  Conventionally, there is known a motor in which a salient pole having salient poles is rotated with respect to an armature in which permanent magnets are individually accommodated in each tooth of an armature core. In such a conventional motor, armature windings are individually provided on each of the teeth in concentrated winding (see, for example, Patent Document 1).

JP 2002-199679 A

  In the conventional motor disclosed in Patent Document 1, the number of salient poles of the salient pole is five and the number of teeth of the armature is six, so that the magnetomotive force of the three-pole pair by six permanent magnets is Modulated by the five salient poles produces a magnetic flux of two pole pairs. Therefore, when the relationship between the number of magnetic poles formed by the armature winding and the number of teeth is expressed as a pole slot combination of "number of magnetic poles: number of teeth" series, in the conventional motor disclosed in Patent Document 1, 2: 3 The cogging torque will be large because it will operate in a series of pole slot combinations.

  The present invention has been made to solve the problems as described above, and it is an object of the present invention to obtain a motor capable of reducing cogging torque or cogging thrust.

  The motor according to the present invention comprises an armature core having a plurality of teeth arranged adjacent to one another, a plurality of permanent magnets contained in each of the plurality of teeth, and a plurality of electric motors provided in each of the plurality of teeth. An armature having a child winding, and a salient pole having one or more salient poles and arranged with the salient pole facing the teeth, the armature and the salient pole having a plurality of teeth arranged in a direction The permanent magnets contained in two teeth adjacent to each other are movable relative to each other, with the same magnetic poles facing each other. The pitch of the teeth is P1 and the pitch of the salient poles is Assuming P2, (P1 / P2) <1/6 or 5/6 <(P1 / P2) <7/6 is satisfied.

  According to the motor of the present invention, since the relationship between the pitch P1 of the teeth and the pitch P2 of the salient pole satisfies the above-mentioned equation, it is possible to increase the fundamental wave order of cogging. As a result, the amplitude value of the cogging fundamental wave order can be reduced, and cogging torque or cogging thrust can be reduced.

It is a block diagram which shows the motor by Embodiment 1 of this invention. It is a wiring diagram which shows 12 armature windings of FIG. It is a block diagram which shows the motor by Embodiment 2 of this invention. It is a block diagram which shows the motor by Embodiment 3 of this invention. It is a block diagram which shows the motor by Embodiment 4 of this invention. It is a block diagram which shows the motor by Embodiment 5 of this invention. It is a block diagram which shows the motor by Embodiment 6 of this invention. It is a block diagram which shows the motor by Embodiment 7 of this invention. It is a block diagram which shows the motor by Embodiment 8 of this invention. It is a block diagram which shows the motor by Embodiment 9 of this invention. It is a block diagram which shows the motor by Embodiment 10 of this invention. In the motor by Embodiment 10 of this invention, it is a table | surface which shows the combination of the value of k, m, and Q when Q = 3 * k * m is satisfy | filled. In the motor by Embodiment 10 of this invention, it is a table | surface which shows the combination of the value of k, m, and N when satisfy | filling N = (3 * k + 0.5) * m. In the motor by Embodiment 10 of this invention, it is a table | surface which shows the combination of the value of k, m, and N when satisfy | filling N = (3 * k-0.5) * m. In the motor by Embodiment 10 of this invention, it is a table | surface which shows the combination of the value of k, m, and pole slot combination when N = (3 * k + 0.5) * m is satisfy | filled. In the motor by Embodiment 10 of this invention, it is a table | surface which shows the combination of the value of k, m, and pole slot combination when N = (3 * k-0.5) * m is satisfy | filled. It is a block diagram which shows the motor by Embodiment 11 of this invention. It is a block diagram which shows the motor by Embodiment 12 of this invention. It is a vector diagram which shows the 1f component of the cogging torque which arises in each tooth of FIG. It is a block diagram which shows the motor by Embodiment 13 of this invention. FIG. 21 is a configuration diagram showing a motor according to Embodiment 14 of the present invention. It is a block diagram which shows the motor by Embodiment 15 of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
Embodiment 1
FIG. 1 is a block diagram showing a motor according to Embodiment 1 of the present invention. In the figure, a motor 1 has an annular armature 2 as a stator, and a salient pole 3 as a rotor that is disposed inside the armature 2 and rotates with respect to the armature 2. Therefore, in this example, the motor 1 is a rotary motor.

  The armature 2 has an armature core 4 made of iron, a plurality of permanent magnets 5 accommodated in the armature core 4, and a plurality of armature windings 6 provided on the armature core 4. There is.

  The armature core 4 has an annular core back 7 and a plurality of teeth 8 projecting respectively from the inner surface of the core back 7 toward the salient pole piece 3.

  The plurality of teeth 8 are adjacent to each other in the circumferential direction of the armature core 4 and arranged at equal intervals. Thereby, slots 9 which are spaces are respectively formed between the plurality of teeth 8. The number of slots 9 is the same as the number of teeth 8. Each slot 9 is open toward the salient pole 3. In this example, the number of teeth 8 is twelve and the number of slots 9 is also twelve.

  The permanent magnets 5 are individually housed in the teeth 8. In this example, a plate-like permanent magnet 5 disposed along the radial direction of the armature 2 is accommodated in the circumferential direction central portion of the teeth 8. Further, the permanent magnets 5 accommodated in two teeth 8 adjacent to each other are arranged with the same magnetic pole facing each other. Therefore, all the permanent magnets 5 adjacent to each other are arranged with alternating magnetic poles in the circumferential direction of the armature 2. Furthermore, in this example, the permanent magnet 5 is exposed from the teeth 8 on the inner peripheral surface of the armature core 4 and covered by the core back 7 on the outer peripheral surface of the armature core 4.

  Each armature winding 6 is individually provided to each tooth 8 in concentrated winding. Thus, in this example, the number of armature windings 6 is twelve. Each armature winding 6 is accommodated in the slot 9. If each phase of three phases is represented by U phase, V phase, and W phase, respectively, armature winding U11, U12, U21 of four armature winding 6 of each armature winding 6 is U phase. It is U22, and the other four armature windings 6 are V-phase armature windings V11, V12, V21, V22, and the remaining four armature windings 6 are W-phase. The armature windings are W11, W12, W21 and W22. The twelve armature windings 6 are, as shown in FIG. 1, corresponding to each of the twelve teeth 8, in the counterclockwise direction of FIG. 1 + U11, -U12, -V11, + V12, + W11, It arranges in order of -W12, -U21, + U22, + V21, -V22, -W21, + W22. However, “+” and “−” represent different winding polarities of the armature winding 6 and are generated in the armature winding 6 when currents in the same direction flow through the armature winding 6. It is shown that the directions of the electromagnetic fields are opposite to each other in the radial direction.

  FIG. 2 is a connection diagram showing the twelve armature windings 6 of FIG. In the armature 2, in consideration of the symmetry of the induced voltage of each armature winding 6, a U-phase series circuit in which U-phase armature windings U11, U12, U21, U22 are sequentially connected in series; W-phase series circuit in which V-phase armature windings V11, V12, V21, V22 are sequentially connected in series, and W in which W-phase armature windings W11, W12, W21, W22 are sequentially connected in series The series circuit of the phases is connected at a common neutral point. That is, in the armature 2, the plurality of armature windings 6 are connected by Y connection.

  The salient pole piece 3 is arranged coaxially with the armature 2. Therefore, the salient pole 3 has an axis A common to the armature 2. Further, a gap, that is, an air gap exists between the salient pole 3 and the armature 2. As a result, the armature 2 and the salient pole piece 3 are relatively movable in the direction in which the plurality of teeth 8 are arranged, that is, in the circumferential direction of the armature 2.

  The salient pole element 3 has a columnar salient pole body 31 and one or more salient poles 32 provided on the outer peripheral portion of the salient pole body 31. In this example, the number of salient poles 32 is eleven. The salient poles 32 are arranged at equal intervals in the direction in which the plurality of teeth 8 are arranged, that is, in the circumferential direction of the armature 2.

  Here, an angle formed by two straight lines connecting one end in the circumferential direction of two teeth 8 adjacent to each other and axis A is defined as θ 1, and one end in the circumferential direction of each two salient poles 32 adjacent to each other and axis A The angle formed by two straight lines connecting Further, an angle formed by two straight lines connecting the axial line A with both ends in the circumferential direction of the permanent magnet 5 is taken as θ3. Further, a surface set along the circumferential direction in which the plurality of teeth 8 are arranged passing through the end faces of the plurality of teeth 8 is taken as a pitch reference surface. In this example, the pitch reference surface is a cylindrical surface centered on the axis A.

  Furthermore, in the common pitch reference plane, the circumferential distance corresponding to the range of θ1 is the pitch P1 of the teeth 8, and the circumferential distance corresponding to the range of θ2 is the pitch P2 of the salient poles 32, and corresponds to the range of θ3. The circumferential distance is set to the pitch P3 of the permanent magnet 5. That is, the circumferential spacing between the teeth 8 in the common pitch reference plane is the pitch P1 of the teeth 8, and the circumferential spacing between the salient poles 32 in the common pitch reference plane is the pitch P2 of the salient poles 32. The thickness of the permanent magnet 5 in the pitch reference plane is taken as the pitch P3 of the permanent magnet 5.

  When the pitch P1 of the teeth 8 and the pitch P2 of the salient pole 32 are defined as described above, the relationship between P1 and P2 satisfies the following equation (1) or (2).

  (P1 / P2) <1/6 (1)

  5/6 <(P1 / P2) <7/6 (2)

  Further, assuming that the number of teeth 8 is Q and the number of salient poles 32 facing Q teeth 8 is N, the following equation (3) is satisfied. The number N of the salient poles 32 does not have to be a natural number.

  (P1 / P2) = (N / Q) (3)

  In this example, Q = 12 and N = 11, which satisfy the equation (2).

  In the motor 1, the magnetomotive force of the six-pole pair by the twelve permanent magnets 5 is modulated by the eleven salient poles 32 to generate a magnetic flux of five-pole pair. Therefore, in this example, the motor 1 operates with 10 poles and 12 slots. That is, when the relationship between the number of magnetic poles formed by the plurality of armature windings 6 and the number of teeth 8 is expressed as a pole slot combination of “number of magnetic poles: number of teeth” series, in this example, 5: 6 series of pole slots The motor 1 operates in combination.

  Further, the relationship between the pitch P3 of the permanent magnet 5 and the pitch P1 of the teeth 8 is a relationship that satisfies the following equation (4).

  5 <P1 / P3 <10 (4)

  In this example, P1 / P3 = 7.5, which satisfies the equation (4).

  In the case of P1 / P3 ≦ 5, the ratio of the thickness of the permanent magnet 5 to the width of the teeth 8 becomes too large, and magnetic saturation tends to occur in the teeth 8. Further, in the case of 10 ≦ P1 / P3, the ratio of the thickness of the permanent magnet 5 to the width of the teeth 8 becomes too small, so that the amount of magnetic flux of the permanent magnet 5 can not be obtained sufficiently. Thereby, the torque of the motor 1 can be increased by the relationship between the pitch P3 of the permanent magnet 5 and the pitch P1 of the teeth 8 satisfying the equation (4).

  In such a motor 1, since the relationship between the pitch P1 of the teeth 8 and the pitch P2 of the salient pole 32 satisfies the equation (2), the fundamental wave of cogging is better than that of the conventional 2: 3 series pole slot combination. The order can be increased. Specifically, since the number Q of teeth 8 = 12, and the number N of salient poles 32 facing Q teeth 8 = 11, the motor 1 can be operated with 10 poles and 12 slots. The fundamental wave order of cogging can be increased more than that of 2: 3 series polar slot combination. Thus, the amplitude value of the cogging fundamental wave order can be reduced, and cogging torque can be reduced. Further, in the case of the conventional 2: 3 series, the winding coefficient is 0.866, whereas in the 5: 6 series pole slot combination of the present embodiment, the winding coefficient is 0.933. Therefore, in the present embodiment, the winding coefficient is increased as compared with the conventional 2: 3 series, and the torque of the motor 1 can be improved.

  Further, since the relationship between the pitch P3 of the permanent magnet 5 and the pitch P1 of the teeth 8 satisfies the equation (4), the magnetic flux amount of the permanent magnet 5 can be sufficiently obtained, and magnetic saturation occurs in the teeth 8 It can be difficult. As a result, the induced voltage of the armature 2 can be increased, and the torque of the motor 1 can be increased.

  In the above example, the winding arrangement of the plurality of armature windings 6 is the normal winding arrangement of the motor 1 operating with 10 poles and 12 slots, but with 5: 6 series of pole slot combinations In the case of different other pole slot combinations, for example 8 poles 9 slots, 14 poles 15 slots etc, the usual winding arrangements corresponding to the other pole slot combinations are applied as winding arrangements of a plurality of armature windings be able to.

Second Embodiment
FIG. 3 is a block diagram showing a motor according to Embodiment 2 of the present invention. In the present embodiment, Q = 12 and N = 13. Thus, in the present embodiment, the relationship between P1 and P2 satisfies the above equation (2). Further, 12 armature windings 6 correspond to each of 12 teeth 8 in the counterclockwise direction of FIG. 3 in the directions of + U11, -U12, -W11, + W12, + V11, -V12, -U21. , + U22, + W21, -W22, -V21, + V22 in this order. However, “+” and “−” indicate different winding polarities of the armature winding 6 as in the first embodiment.

  In the present embodiment, the magnetomotive force of the six-pole pair by the twelve permanent magnets 5 is modulated by the thirteen salient poles 32 to generate a magnetic flux of seven-pole pairs. Thus, in this example, the motor 1 operates with 14 poles and 12 slots. That is, in this example, the motor 1 operates in the 7: 6 series pole slot combination. The other configuration is the same as that of the first embodiment.

  Thus, even with Q = 12 and N = 13, the relationship between P1 and P2 can be made to satisfy the equation (2). Specifically, since Q = 12 and N = 13, the motor 1 can be operated with 14 poles and 12 slots, and the motor 1 can be operated with 7: 6 series pole slot combination larger than 5: 6 series. Can operate. Thereby, the cogging torque can be further reduced. Further, since the number of permanent magnets 5 per pole can be reduced, the amount of magnetic flux per pole passing through the core back 7 can be reduced. As a result, magnetic saturation in the core back 7 is less likely to occur, and the radial thickness of the core back 7 can be reduced. Therefore, the winding area of the armature winding 6 can be expanded, and the copper loss of the armature winding 6 can be reduced.

Third Embodiment
FIG. 4 is a configuration diagram showing a motor according to Embodiment 3 of the present invention. In the present embodiment, Q = 12 and N = 1. Thus, in the present embodiment, the relationship between P1 and P2 satisfies the above equation (1).

  The shape of the salient pole piece 3 is cylindrical. Further, the salient pole element 3 is disposed inside the armature 2 in a state where the cylindrical central axis of the salient pole element 3 is eccentric from the axis line A. The salient pole piece 3 rotates around the axis A with respect to the armature 2. Thus, a salient pole 3 having one salient pole 32 is configured.

  When the number of salient poles 32 is one, the angle from one salient pole 32 to one rotation of salient pole 3 to return to original salient pole 32 is θ2, and θ2 is an angle for one round of salient pole 3 It will be 360 degrees. Accordingly, the pitch P2 of the salient pole 32 is the circumferential distance of one turn of the pitch reference surface.

  In the present embodiment, the magnetomotive force of the six-pole pair by the twelve permanent magnets 5 is modulated by one salient pole 32 to generate a magnetic flux of seven-pole pair. Thus, in this example, the motor 1 operates with 14 poles and 12 slots. That is, in this example, the motor 1 operates in the 7: 6 series pole slot combination. The other configuration is the same as that of the second embodiment.

  Thus, even if Q = 12 and N = 1, the relationship between P1 and P2 can be made to satisfy the equation (1). Specifically, since Q = 12 and N = 1, the motor 1 can be operated with a 7: 6 series pole slot combination as in the second embodiment, and cogging torque can be reduced. It can further be planned. Further, since the number of permanent magnets 5 per pole can be reduced, the radial thickness of the core back 7 can be reduced, and the copper loss of the armature winding 6 can also be reduced. Furthermore, when the relationship between P1 and P2 satisfies the equation (1), the number of salient poles 32 in the salient pole 3 can be reduced, and the manufacture of the salient pole 3 can be facilitated.

Fourth Embodiment
FIG. 5 is a configuration diagram showing a motor according to Embodiment 4 of the present invention. In the present embodiment, each of the armature 2 and the salient pole piece 3 is disposed along the linear direction. That is, in this example, the motor 1 is a linear motor. Further, in this example, the shapes of each of the armature core 4 and the salient pole 3 are such that the circumferential directions of the armature core 4 and the salient pole 3 of the first embodiment are expanded in a linear direction.

  In the motor 1, iron salient poles 3 are disposed along the linear direction as a conveyance path of the linear motor. The armature 2 is movable in a linear direction along the salient pole 3. The salient pole body 31 is a plate-like member disposed along the linear direction in which the armature 2 moves. The plurality of salient poles 32 are arranged at equal intervals in a linear direction along the salient pole body 31.

  The armature 2 is disposed in parallel with the salient pole piece 3. Accordingly, the plurality of teeth 8 are arranged at equal intervals in the linear direction in which the plurality of salient poles 32 are arranged. In this example, the number of teeth 8 of the armature core 4 is twelve. The armature 2 is disposed with the teeth 8 directed to the salient pole 3.

  In this example, each permanent magnet 5 is accommodated in each tooth 8 individually, and the surface of the armature core 4 on the salient pole 3 side and the surface of the armature core 4 on the opposite side to the salient pole 3 side Each permanent magnet 5 is exposed in each.

  Here, a plane set along a straight line direction in which the plurality of teeth 8 are arranged passing through the end faces of the plurality of teeth 8 is taken as a pitch reference surface. Further, the linear direction interval between the teeth 8 in the common pitch reference plane is set as the pitch P1 of the teeth 8, and the linear direction interval between the salient poles 32 in the common pitch reference plane is set as the pitch P2 of the salient poles 32. Defining the pitch P1 of the teeth 8 and the pitch P2 of the salient pole 32 in this way, the relationship between P1 and P2 satisfies the above equation (1) or (2).

  Also in this embodiment, assuming that the number of teeth 8 is Q and the number of salient poles 32 facing Q teeth 8 is N, the relationship of the above equation (3) is established. The number N of the salient poles 32 does not have to be a natural number.

  In this example, as in the first embodiment, since Q = 12 and N = 11, the above equation (2) is satisfied. Therefore, in this example, the motor 1 operates in a 5: 6 series pole slot combination.

  In such a motor 1, the salient pole piece 3 is disposed along the linear direction, the plurality of teeth 8 are arranged in the linear direction along the salient pole piece 3, and the armature 2 is arranged in the linear direction in which the plurality of teeth 8 are arranged. Since the salient pole element 3 is movable, by using the salient pole element 3 as the transport path along which the armature 2 moves, it is not necessary to provide the permanent magnet 5 in the transport path of the linear motor. Thereby, the increase in the manufacturing cost of the motor 1 which is a linear motor can be suppressed.

  That is, in a normal linear motor, an iron core provided with a permanent magnet is used as a conveyance path for conveying an armature as a mover. For this reason, a permanent magnet is required in proportion to the transport distance of the mover, and in the case of long distance transport, the transport path becomes long, so the amount of use of the permanent magnet increases and the cost increases. On the other hand, in the present embodiment, since the armature 2 has the permanent magnet 5 and the salient pole element 3 used as the transport path is made of only iron, even if the transport path becomes long, the permanent magnet It is possible to suppress an increase in the amount of 5 used. Therefore, in the present embodiment, an increase in the manufacturing cost of the motor 1 can be suppressed even in the case of long distance conveyance. Note that an amplifier capable of supplying power to the armature 2 may be mounted on the armature 2.

  Also in the present embodiment, since Q = 12 and N = 11, the relationship between the pitch P1 of the teeth 8 and the pitch P2 of the salient poles 32 can be made to satisfy the equation (2). The cogging thrust of the motor 1, which is a linear motor, can be reduced. Further, while the winding coefficient is 0.866 in the case of the conventional 2: 3 series, the winding coefficient is 0.933 in the 5: 6 series pole slot combination of the present embodiment. Therefore, in the present embodiment, the winding coefficient is increased as compared with the conventional 2: 3 series, and the thrust of the motor 1 which is a linear motor can be improved.

  In the above example, each permanent magnet 5 is exposed on each of the surface of the armature core 4 on the salient pole 3 side and the surface of the armature core 4 on the side opposite to the salient pole 3 side. Alternatively, each permanent magnet 5 may be exposed on the surface of the armature core 4 on the salient pole 3 side, and each permanent magnet 5 may be covered by the core back 7 on the surface on the opposite side of the armature core 4 to the salient pole 3 side. .

  In the above example, Q = 12 and N = 11 are applied to the linear motor. However, as in the third embodiment, Q = 12 and N = 1 may be applied to the linear motor.

Embodiment 5
FIG. 6 is a block diagram showing a motor according to a fifth embodiment of the present invention. In the present embodiment, Q = 12 and N = 13. Thus, in the present embodiment, the relationship between P1 and P2 satisfies the above equation (2).

  Therefore, in the present embodiment, the magnetomotive force of the six-pole pair by the twelve permanent magnets 5 is modulated by the thirteen salient poles 32 to generate a magnetic flux of seven-pole pair. Thus, in this example, the motor 1 operates with 14 poles and 12 slots. That is, in this example, the motor 1 operates in the 7: 6 series pole slot combination. The other configuration is the same as that of the fourth embodiment.

  Thus, in the motor 1 which is a linear motor, even if Q = 12 and N = 13, the relationship between P1 and P2 can be made to satisfy the equation (2). As a result, the motor 1 can be operated with the 7: 6 series pole slot combination larger than the 5: 6 series, and the cogging thrust of the motor 1 which is a linear motor can be further reduced. Further, since the number of permanent magnets 5 per one pole can be reduced, magnetic saturation in the core back 7 is less likely to occur, and the radial thickness of the core back 7 can be reduced. Therefore, the winding area of the armature winding 6 can be expanded, and the copper loss of the armature winding 6 can be reduced.

Sixth Embodiment
FIG. 7 is a configuration diagram showing a motor according to Embodiment 6 of the present invention. In the present embodiment, Q = 12 and N = 11.2.

  For example, in order to operate the motor 1 as 10 poles and 12 slots with Q = 12, it suffices to satisfy the following equation (5), and to operate the motor 1 as 14 poles and 12 slots as Q = 12: It suffices to satisfy the equation (6) of

  5/6 <(P1 / P2) <1 (5)

  1 <(P1 / P2) <7/6 (6)

  In this embodiment, since Q = 12 and N = 11.2, the relationship between P1 and P2 satisfies the equation (5) from the equation (3). The other configuration is the same as that of the fourth embodiment.

  Thus, even if the value of N is not a natural number, the motor 1 can be operated without any problem. As a result, even if, for example, the machining accuracy of the salient pole 3 is poor, the cogging thrust of the motor 1 which is a linear motor can be reduced, and the motor 1 can be operated without any problem.

  In the above example, the motor 1 is a linear motor, but even if the motor 1 is a rotary motor, the cogging torque of the motor 1 can be similarly reduced.

Embodiment 7
8 is a block diagram showing a motor according to a seventh embodiment of the present invention. In the motor 1 which is a linear motor, protrusions 11 are respectively provided at both ends of the armature core 4 in the linear direction in which the teeth 8 are arranged. Each protrusion 11 protrudes from the core back 7 toward the salient pole 3 and faces the salient pole 3. Moreover, each protrusion part 11 is spaced apart from the teeth 8 in the linear direction in which the teeth 8 are arranged. The armature winding 6 is not provided in each protrusion 11. Each protrusion 11 is made of the same material as the core back 7 and integrally formed with the core back 7. In this example, Q = 12 and N = 11. Therefore, in this example, the relationship between P1 and P2 satisfies the above equation (2). The other configuration is the same as that of the fourth embodiment.

  In such a motor 1, since the protrusions 11 are respectively provided at both ends of the armature core 4 in the linear direction in which the teeth 8 are arranged, the cogging thrust of the motor 1 which is a linear motor is reduced. It can further be planned. Further, the thrust of the motor 1 can also be improved.

  In the above example, the protrusions 11 are provided at both ends of the armature core 4, but the protrusions are only at one end of the armature core 4 in the linear direction in which the teeth 8 are arranged. 11 may be provided.

Eighth Embodiment
FIG. 9 is a configuration diagram showing a motor according to Embodiment 8 of the present invention. Assuming that the teeth 8 located at the ends of both sides of the armature core 4 in the linear direction in which the teeth 8 are arranged are the end teeth 8a and the teeth 8 other than the end teeth 8a are the middle teeth 8b, the end teeth The shape of 8a is different from the shape of the intermediate teeth 8b. The shape of each intermediate portion tooth 8b is the same as each other.

  The relationship between the pitch P1 of the teeth 8 and the pitch P2 of the salient pole 32 is a relationship that satisfies the above equation (1) or (2). Further, the relationship between P1, P2, Q and N is a relationship satisfying the above equation (3). In addition, the pitch P1 of the teeth 8 applied to Formula (1)-Formula (6) is set by the distance between each middle part teeth 8b in a pitch reference plane. The other configuration is the same as that of the fourth embodiment.

  In such a motor 1, since the shape of the end teeth 8a is different from the shape of the intermediate teeth 8b, the cogging thrust of the motor 1 which is a linear motor is reduced by adjusting the shape of the end teeth 8a. Further. That is, in the motor 1, which is a linear motor, unlike the rotary motor, the armature 2 is not continuous in an endless manner, and the end of the armature 2 exists in the linear direction in which the armature 2 moves. It has become. Therefore, a cogging component is added to the thrust of the motor 1 due to the presence and non-consecutive end of the armature 2. In the present embodiment, since the shape of end teeth 8a is different from the shape of middle teeth 8b, a cogging component caused by the discontinuity of armature 2 can be suppressed, and motor 1 is a linear motor. The cogging thrust can be further reduced. Further, the thrust of the motor 1 can also be improved.

  In the above example, the shapes of the end teeth 8a located at both ends of the armature core 4 are different from the shape of the intermediate teeth 8b, but among the end teeth 8a, the electric machine Only the shape of the end teeth 8a located at one end of the daughter core 4 may be different from the shape of the middle teeth 8b.

  In the above example, the cogging thrust of the motor 1 is reduced by making the shape of the end teeth 8a different from the shape of the intermediate teeth 8b, but the end teeth 8a and the end The armature by making the pitch of the end teeth 8b which is the distance between the intermediate portion teeth 8b next to the teeth 8a different from the pitch of the intermediate portion teeth 8b which is the distance between the intermediate portion teeth 8b. The cogging component resulting from the discontinuity of 2 may be suppressed to reduce the cogging thrust of the motor 1.

Embodiment 9
FIG. 10 is a block diagram showing a motor according to a ninth embodiment of the present invention. In this example, as in the eighth embodiment, the teeth 8 located at the ends of both sides of the armature core 4 in the linear direction in which the teeth 8 are arranged are used as the end teeth 8a, and each tooth other than the end teeth 8a. Let 8 be an intermediate part tooth 8b. Further, in this example, of the intermediate teeth 8b, the intermediate teeth 8b located adjacent to the end teeth 8a are used as the end adjacent teeth 8c. When each tooth 8 is defined in this way, the shape of each end adjacent tooth 8c is the shape of each other tooth 8, that is, the shape of each intermediate tooth 8b and end tooth 8a other than the end adjacent tooth 8c It is different. In this example, the shape of the permanent magnet 5 accommodated in the end adjacent teeth 8c is different from the shape of the permanent magnet 5 accommodated in the other teeth 8 other than the end adjacent teeth 8c. The shape of the end adjacent teeth 8 c is different from the shape of the other teeth 8. Moreover, in this example, the thickness of the permanent magnet 5 accommodated in the end adjacent tooth 8 c is larger than the thickness of the permanent magnet 5 accommodated in the other teeth 8. The shapes of the intermediate teeth 8 b and the end teeth 8 a other than the end adjacent teeth 8 c are the same as each other. The other configuration is the same as that of the eighth embodiment.

  In such a motor 1, since the shape of the end adjacent teeth 8c located next to the end teeth 8a is different from the shape of the other teeth 8 other than the end adjacent teeth 8c, the armature 2 is discontinuous The cogging component resulting from the property can be suppressed, and the cogging thrust of the motor 1 can be further reduced. Further, the thrust of the motor 1 can also be improved.

  In the above example, the shapes of the end adjacent teeth 8c located on both sides of the armature core 4 are different from the shapes of the other teeth 8, but the end located on one side of the armature core 4 Only the shape of the adjacent teeth 8c may be different from the shape of the other teeth 8.

Embodiment 10
11 is a block diagram showing a motor according to a tenth embodiment of the present invention. In the present embodiment, the number Q of the teeth 8 is set to a value satisfying the following equation (7), and the number N of the salient poles 32 facing the Q teeth 8 has a value satisfying the following equation (8) It is set.

  Q = 3 · k · m (7)

  N = (3 · k ± 0.5) · m (8)

  Here, k is a natural number of 2 or more, that is, k = 2, 3, 4..., And m is a natural number of 1 or more, that is, m = 1, 2, 3.

  In this example, k = 2 and m = 2 are satisfied, and Q = 12 and N = 11.

  FIG. 12 is a table showing combinations of k, m and Q values when Q = 3 · k · m in the motor according to the tenth embodiment of the present invention. FIG. 13 is a table showing combinations of k, m and N values when N = (3 · k + 0.5) · m is satisfied in the motor according to the tenth embodiment of the present invention. Furthermore, FIG. 14 is a table showing combinations of k, m and N values when N = (3 · k−0.5) · m is satisfied in the motor according to Embodiment 10 of the present invention. Further, FIG. 15 is a table showing combinations of k, m and pole slot combinations when N = (3 · k + 0.5) · m is satisfied in the motor according to Embodiment 10 of the present invention. Furthermore, FIG. 16 is a table showing combinations of k, m and pole slot combinations when N = (3 · k−0.5) · m is satisfied in the motor according to Embodiment 10 of the present invention. . In FIGS. 15 and 16, “P” is added to the number of poles, and “S” is added to the number of teeth, that is, the number of slots as the value of the pole slot combination. For example, when the number of poles is 5 and the number of teeth is 6, "5P6S" is used to indicate the value of the pole slot combination.

  In the present embodiment, Q and N are set according to the values of k and m in the range of k> 1 and m ≧ 1, as shown in FIGS. The other configuration is the same as that of the first embodiment.

  In such a motor 1, since Q satisfies the equation (7) and N satisfies the equation (8), the fundamental wave of the torque can be increased, and the torque of the motor 1 can be increased. Can. Further, since k> 1, the winding coefficient is improved to increase the torque, and the cogging torque resulting from the pole slot combination can be reduced.

  Further, since m = 2 is satisfied in the equations (7) and (8), the cogging torque generated by the action of the salient pole element 3 and the permanent magnet 5 can be canceled out between the teeth 8. Thereby, the cogging torque can be further suppressed.

  Further, in the motor 1, when N = (3 · k−0.5) · m is satisfied, the armature core 4 and the salient pole 3 are more than when the N = (3 · k + 0.5) · m is satisfied. The fundamental wave of the magnetic flux density of the air gap existing between Therefore, by setting the number of teeth 8 and the number of salient poles 32 so as to satisfy Q = 3 · k · m and N = (3 · k-0.5) · m, It can increase further.

Embodiment 11
FIG. 17 is a configuration diagram showing a motor according to Embodiment 11 of the present invention. In the present embodiment, Q and N satisfy the expressions (7) and (8), and m = 1 and k> 1 in the expressions (7) and (8). In this example, m = 1 and k = 2 are satisfied. Thus, in this example, Q = 6 and N = 5.5. The other configuration is the same as that of the fourth embodiment.

  In such a motor 1, since Q and N satisfy the above equations (7) and (8) and satisfy m = 1 and k> 1 in equations (7) and (8), each pole The number of teeth 8 and permanent magnets 5 can be minimized in the slot combination. For example, the pole slot combination of “10P12S” can be set to “5P6S”, or the pole slot combination of “16P18S” can be set to “8P9S”. Thereby, when the volume of the motor 1 is constant, the thickness of the permanent magnet 5 can be maximized in each pole slot combination, and the amount of magnetic flux flowing from the permanent magnet 5 to the salient pole 3 can be increased. Therefore, the induced voltage at the armature 2 can be increased, and the thrust of the motor 1 can be increased.

  In this example, m = 1 and k = 2 are satisfied, and Q = 6 and N = 5.5. Therefore, the number of permanent magnets 5 in the motor 1 operating in the 5: 6 series of pole slot combinations Can be minimized. As a result, the thickness of the permanent magnet 5 can be maximized in the 5: 6 series of pole slot combinations, and the magnetic flux density of the air gap is increased to increase the thrust of the motor 1 as a linear motor. Can.

  In addition, when N = (3 · k−0.5) · m is satisfied, the fundamental wave of the magnetic flux density of the air gap can be improved as compared to the case where N = (3 · k + 0.5) · m. it can. Thereby, by satisfying N = (3 · k−0.5) · m, it is possible to further increase the thrust of the motor 1 which is a linear motor.

  In the above example, a configuration in which Q and N satisfy the above equations (7) and (8) and satisfy m = 1 and k> 1 in equations (7) and (8) is applied to a linear motor However, a configuration in which Q and N satisfy the above equations (7) and (8) and satisfy m = 1 and k> 1 in equations (7) and (8) may be applied to a rotary motor . Also in this case, the thickness of the permanent magnet 5 can be maximized in each pole slot combination, and the torque of the rotary motor can be increased.

Embodiment 12
18 is a configuration diagram showing a motor according to Embodiment 12 of the present invention. In the present embodiment, Q and N satisfy the expressions (7) and (8), and m = 2 and k> 1 in the expressions (7) and (8). In this example, m = 2 and k = 2 are satisfied. Thus, in this example, Q = 12 and N = 11.

  When m = 2 is satisfied in the equations (7) and (8), the 1f component of the cogging torque generated by the action of the salient pole element 3 and the permanent magnet 5, that is, the cogging torque component appearing in the same cycle as the fluctuation of the air gap It occurs in the direction in which the teeth 8 cancel each other. In FIG. 18, numbers 1 to 12 (numbers surrounded by a circle) continuous in the linear direction assigned to the teeth 27 for convenience are shown as teeth numbers.

  FIG. 19 is a vector diagram showing 1f components of cogging torque generated in each tooth 8 of FIG. In FIG. 19, vectors of 1f components of cogging torque generated individually in the teeth 8 of FIG. 18 are collectively shown for each of the teeth numbers 1 to 12. As shown in FIG. 19, it can be seen that when the 1f components of the cogging torque generated at the teeth 8 of the teeth numbers 1 to 12 are added together, the composite vector of the 1f components of the cogging torque becomes almost zero. The other configuration is the same as that of the eleventh embodiment.

  In such a motor 1, Q and N satisfy the expressions (7) and (8), and m = 2 and k> 1 in the expressions (7) and (8). The 1f component of the cogging torque generated at 8 can be canceled out. Thereby, the cogging torque of the motor 1 can be further reduced.

Thirteenth Embodiment
FIG. 20 is a configuration diagram showing a motor according to Embodiment 13 of the present invention. In the present embodiment, Q and N satisfy the expressions (7) and (8), and m = 4 and k> 1 in the expressions (7) and (8). In this example, m = 4 and k = 2 are satisfied, and Q = 24 and N = 22. Further, in this example, the motor 1 is a rotary motor.

  When m = 4 in the equations (7) and (8), the shape of the salient pole 3 as viewed along the axis A becomes symmetrical with respect to a straight line passing the axis A. Further, when m = 4 is satisfied in the equations (7) and (8), the pole slot combination as viewed along the axis A passes through the axis A and is orthogonal to each other, the first straight line and the second straight line Both have a symmetrical relationship. The other configuration is the same as that of the tenth embodiment.

  In such a motor 1, since Q and N satisfy the above equations (7) and (8) and satisfy m = 4 and k> 1 in the equations (7) and (8), the salient pole element The symmetry of the shape of 3 and the symmetry of the pole slot combination of the motor 1 can be secured. Thereby, the vibration and noise of the motor 1 can be reduced.

  Further, since the symmetry of the induced voltage of the armature 2 can be secured, the connection of the plurality of armature windings 6 can be made into two parallel connections. When a plurality of armature windings 6 are connected in parallel, a plurality of in-phase armature winding series portions are formed by connecting adjacent in-phase armature windings 6 in series, A plurality of sets of in-phase armature winding series are connected in parallel. In a motor in which a plurality of in-phase armature winding series parts are connected in parallel, assuming that n is a natural number of 2 or more, the relationship m = 2 · n holds, and the number of paralleled armature winding series parts in phase C is a divisor other than 1 of n. Further, when the relationship of m = 2 · n is established, and the parallel number C of armature winding series portions in phase is a divisor of n other than 1, one armature winding series portion is connected in series. The number of armature windings 6 is Q / (3 · C). Thereby, the balance of the induced voltage can be improved, and the torque ripple, vibration and noise of the motor 1 can be reduced.

Fourteenth Embodiment
21 is a configuration diagram showing a motor according to Embodiment 14 of the present invention. In the present embodiment, Q and N satisfy the expressions (7) and (8), and m = 2 and k = 2 in the expressions (7) and (8). As a result, Q = 12, N = 11 or 13. Therefore, the motor 1 operates with 10 poles and 12 slots when N = 11, and the motor 1 operates with 14 poles and 12 slots when N = 13. In this example, the motor 1 is a rotary motor.

  Considering the balance of the air gap G, the thickness d of the permanent magnet 5 and the winding coefficient, when m = 2 and k = 2 in the equations (7) and (8), the air gap G is 2 mm to 4 mm, The ratio of the circumferential length D of the outer peripheral surface 4a of the armature core 4 to the thickness d of the permanent magnet 5 per piece is (37 to 45): 1, so that the induced voltage of the armature 2 is most growing. The other configuration is the same as that of the tenth embodiment.

  In such a motor 1, since Q and N satisfy the above equations (7) and (8) and m = 2 and k = 2 in the equations (7) and (8), the air gap The induced voltage of the armature 2 is increased by adjusting the sizes of the air gap, the armature core 4 and the permanent magnet 5 in consideration of the balance between G, thickness d of the permanent magnet 5 and the winding coefficient. can do. As a result, the cogging torque of the motor 1, which is a rotary motor, can be reduced.

Embodiment 15
FIG. 22 is a configuration diagram showing a motor according to Embodiment 15 of the present invention. In the present embodiment, as in the fourteenth embodiment, Q and N satisfy the above equations (7) and (8), and m = 2 and k = 2 in equations (7) and (8). I meet. As a result, Q = 12, N = 11 or 13. Therefore, the motor 1 operates with 10 poles and 12 slots when N = 11, and the motor 1 operates with 14 poles and 12 slots when N = 13. In this example, the motor 1 is a linear motor.

  Considering the balance of the air gap G, the thickness d of the permanent magnet 5 and the winding coefficient, when m = 2 and k = 2 in the equations (7) and (8), the air gap G is 2 mm to 4 mm, When the ratio of the total length D in the linear direction of the armature core 4 to the thickness d of the permanent magnet 5 per piece is (37 to 45): 1, the induced voltage of the armature 2 becomes the largest. The other configuration is the same as that of the eleventh embodiment.

  In such a motor 1, since Q and N satisfy the above equations (7) and (8) and m = 2 and k = 2 in the equations (7) and (8), the air gap The induced voltage of the armature 2 is adjusted by adjusting the respective sizes of the air gap G, the armature core 4 and the permanent magnet 5 in consideration of G, the thickness d of the permanent magnet 5 and the balance of the winding coefficient. The cogging thrust of the motor 1, which is a linear motor, can be reduced. That is, even if the motor 1 is a linear motor, the same effect as the rotary motor can be obtained.

  In Embodiments 14 and 15, m = 2 is satisfied in Equations (7) and (8), but if k = 2, m is a natural number of 1 or 3 or more. However, the cogging torque or cogging thrust of the motor 1 can be reduced.

  1 motor, 2 armatures, 3 salient poles, 4 armature cores, 5 permanent magnets, 6 armature windings, 8 teeth, 32 salient poles.

Claims (6)

An armature core having a plurality of teeth arranged adjacent to one another, a plurality of permanent magnets accommodated in each of the plurality of teeth, and a plurality of armature windings provided in each of the plurality of teeth And a salient pole having one or more salient poles for modulating the magnetomotive force generated by the plurality of permanent magnets, and arranged with the salient pole facing the teeth.
The armature and the salient pole are relatively movable in the direction in which the plurality of teeth are arranged,
The permanent magnets accommodated in two adjacent teeth are arranged with the same magnetic pole facing each other,
Assuming that the pitch of the teeth is P1 and the pitch of the salient poles is P2,
5/6 <(P1 / P2) <7/6
The filling,
Let Q be the number of teeth, and N be the number of salient poles facing Q teeth.
Assuming that k is a natural number of 2 or more and m is a natural number of 1 or more,
Q = 3 · k · m ,
N = (3 · k ± 0.5) · m ,
k = 2 and m = 2
The filling,
Three phase currents are supplied to the plurality of armature windings,
The plurality of armature windings are configured to generate a magnetic flux of 5-pole pairs or 7-pole pairs in which the magnetomotive force generated by the plurality of permanent magnets is the same as the pole-log of the magnetic flux modulated by the salient pole. The motor respectively arrange | positioned at the said teeth. Assuming that the pitch of the permanent magnet is P3,
5 <P1 / P3 <10
The motor according to claim 1, wherein Three phase currents are supplied to the plurality of armature windings,
When the relationship between the number of magnetic poles formed by the plurality of armature windings and the number of teeth is expressed as the number of magnetic poles: pole slot combination of the number series of teeth,
The motor according to claim 1 or 2, wherein the pole slot combination is [(N-Q / 2) x 2]: Q series. The number of the armature windings which are respectively located in front Symbol teeth is 12,
Among the 12 armature windings respectively arranged on the adjacent teeth, 4 armature windings are composed of U-phase armature windings U11, U12, U21, U22, and the other 4 Each of the armature windings is composed of V-phase armature windings V11, V12, V21, V22, and the remaining four armature windings are W-phase armature windings W11, W12, W21, It consists of W22,
Assuming that + and − indicate that the directions of the electromagnetic field generated in the armature winding are opposite to each other in the radial direction when current in the same direction flows in the armature winding,
The armature winding may be, for each of the teeth, + U11, -U12, -V11, + V12, + W11, -W12, -U21, + U22, + V21, -V22, -W22, + W22, or + U11, -U12,- The motor according to any one of claims 1 to 3 , arranged in the order of W11, + W12, + V11, -V12, -U21, + U22, + W21, -W22, -V21, + V22. The salient poles are disposed along a linear direction,
The plurality of teeth are arranged in the linear direction,
The motor according to any one of claims 1 to 4 , wherein the armature is movable relative to the salient pole element in the linear direction. Assuming that the teeth adjacent to the end teeth in the linear direction among the plurality of teeth are end adjacent teeth,
The motor according to claim 5 , wherein the shape of the permanent magnet accommodated in the end adjacent teeth is different from the shape of the permanent magnet accommodated in the teeth other than the end adjacent teeth.

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