SU1561161A1 - Dc torque motor - Google Patents

Abstract

This invention relates to contactless torque motors with a limited rotor angle. The purpose of the invention is to simplify and improve the reliability and smoothness of an electric motor by compensating by means of electromagnetic forces of forces acting on bearings from inertia forces, including from gravity. The electric motor contains an electromechanical converter 1 with excitation from permanent magnets, sections 2-5 of the windings of the core of which are powered from corresponding current sources, the control inputs of which are connected to the input of adders 15-18, the inputs of which are connected to the outputs of torque setting sensor 19 and sensors 20 , 21 accelerations along two perpendicular axes. Due to this, the currents in the winding sections of the core are distributed in such a way that they create a given torque and compensate external forces acting on the rotor. The invention is intended for use in devices requiring minimal wear of moving parts. 3 il.

Description

The invention relates to electrical engineering, in particular to direct current torque electric motors with a limited angle of rotation of the rotor, and can be used in precision electric drives, which require an increased resource when working on a moving base.

The purpose of the invention is to increase reliability; q reliability, simplification of the electric motor and increase smoothness.

Figure 1 presents a functional diagram of a torque DC motor; on fig, 2 - four-ed pole electromechanical transducer (spare parts), cross section; in Fig.Z - six-pole electric motor, cross section.

The direct current electric motor 20 contains EMF 1, consisting of a stator with four armature windings 2-5 and a rotor-inductor 6, four channels for forming armature currents, consisting of power amplifiers 7-10 ^ 25 current sensors 11-14 and adders 1518, a torque adjuster 19 and two linear acceleration sensors 20 and 21. The scale blocks of the adders 15-18 are not shown. 3Q

The output of the moment master 19 is connected to the first inputs of the adders 15-18 of all four channels. The second input of the adder 15 of the first channel and the second inverting input of the adder 17 of the third channel are connected to the output of the first linear acceleration sensor 20. The second inverting input of the adder 16 of the second caddal and the second input of the adder 18 of the fourth channel are connected to the output of the second linear acceleration sensor 21. The outputs of the adders 1518 four channels are connected to the non-inverting inputs of the amplifiers 7-10 power, respectively. Anchor windings 2-5 are connected to the outputs d ^ of these amplifiers through the inputs of the current sensors 1114, respectively, the outputs of which are connected to the inverting inputs of the power amplifiers 7-10. __. 5U

The EMF of a direct current DC motor (Fig. 2) consists of an annular magnetic circuit 22 of the stator with anchor windings 2-5 and a rotor inductor 6, which includes permanent magnet 23 with pole tips 24, mounted on the yoke of the rotor 25 mounted on a shaft 26; EMF _ is divided into four sectors 27-30 in such a way that each sector includes one anchor winding, while the axes of two neighboring sectors are perpendicular to each other and pass through the middle of their windings. The linear acceleration sensors 20 and 21 are fixed motionless relative to the stator and measure the accelerations a ^ and a / along the axes ОУ and 0Х, respectively, the axis 0Х is parallel to the axis of sectors 27 and 29, and the axis ОУ 28 and 30, Crosses and dots indicate the positive directions of the currents of the armature windings . The forces acting on the rotor as a result of the interaction of the magnetic fields of the permanent magnets and the armature windings in each sector are designated F <-F _4, respectively.

Fig. 3 shows an example of a six-pole electric machine. The electric machine is divided into 4 sectors so that in sectors 27 and 29, each of the windings 2 and 4 consists of two coils connected in series.

The forces acting on the rotor poles within the sector 27 are denoted by F ₍ , F _z , and within the sector 29 - F 'F ^r j »g 3 ·

The electric motor with EMF in figure 2 works as follows.

The master -19 moment generates a signal proportional to the required moment M, which is supplied to the first inputs of the adders 15-18 of all four channels. The linear acceleration sensors 20 and 21 generate signals a ^, and _x , proportional to F ^ and F _x, respectively; ^{4 F} 4 ^{= ha} b ^;

F _x = ta *, where t is the rotor oil,

and _x is the stator acceleration along the axes and OX, respectively.

OU

From the output of the sensor 20, a signal proportional to F || is supplied to the second inputs of the adders 15 and 17. From the output of the sensor 21, a signal proportional to F _x is supplied to the second inputs of the adders 16 and 18. The optimal values of the armature currents are formed at the outputs of the adders 15-18 windings according

equalities: ~ 4 2 '• о _ С ₍ М CjFx _t 2 ^_ 4 ^_ ~ 2' (1)

C ₂ - constant coefficients;

M is the signal generated by the master of the moment 19,

F _x - signals generated by sensors 20 and 21 of the line _. 0 ₌ s, Μ _ CiF _t '~ 4 ~ 2 ~ ^! .o _ C <M _χ CiFx H - ⁺ ~ 2 ~~ 'where C ,,

10.

accelerations.

Amplifiers 7-10 power, covered by deep negative feedback using current sensors 11-14, ensure that currents _i0 i _if i ₃ , C, flow close to the optimal ones along the armature windings.

The currents (1) provide the creation of forces acting on the rotor, the sum of the moments of which relative to the axis of rotation of the rotor is equal to the required moment M with minimal losses in the armature winding. The sums of the projections of the electromagnetic forces and the forces created by the accelerations a ,, a ^, including the rotor gravity, on the axis ОХ and ОУ are close to zero, due to which the bearings are unloaded from radial forces, the reliability of the electric motor and smoothness of movement are improved due to the reduction of the friction moment in 30 bearings.

Equalities (1) are obtained by solving the conditional extremum problem with three constraints of the equality type by the Lagrange multiplier method. 35

Claims (1)

Claim A momentary DC motor containing an electro-mechanical converter, the windings of which are located in four sectors of the stator, the axes of neighboring sectors are mutually perpendicular and pass through the middle of the phase zones of the windings connected to the corresponding channels for the formation of anchor currents, each of which contains an adder, the output of which is connected to the non-inverting input of the power amplifier, and to its inverting input the output of the current sensor is connected, through the input of which the output of the power amplifier is connected ^ winding of the corresponding sector, torque adjuster, the output of which is connected to the first inputs of all channels of the formation of anchor currents, characterized in that, in order to simplify and improve reliability and smoothness of operation when working on a moving base by electromagnetic compensation of the radial inertia and gravity forces acting on the rotor , two linear acceleration sensors are introduced, the measurement axis of the first sensor is parallel to the axes of the second and fourth sectors, and the measurement axis of the second sensor is parallel to the axes of the first and third sectors, the output is neinzertiruyuschemu sensor is connected to the second input of the adder of the third channel, and the output vtotorogo sensor connected to the inverting input of the second adder and the second channel to the noninverting second input of the adder of the fourth channel forming the armature currents. 1561161.