阅读说明：本技术 旋转电机控制方法及旋转电机 (Rotating electric machine control method and rotating electric machine ) 是由 王宏强 曲扬 王佩松 于 2020-06-28 设计创作，主要内容包括：本发明公开了一种旋转电机控制方法及旋转电机,其中,旋转电机控制方法包括：获取第一频率和第一交流电波长；获取第二频率和第二交流电波长；根据所述第一频率和所述第一交流电波长获取第一波速,所述第一波速为动子上电压的波速；根据所述第二频率和所述第二交流电波长获取第二波速,所述第二波速为定子上电压的波速；根据所述第一波速和所述第二波速获取所述动子上电极中点的线速度；根据所述动子上电极中点的线速度和动子的直径获取动子运动的角速度；根据所述动子运动的角速度控制所述旋转电机的转速。本发明能够通过控制接入的电压和频率改变动子运动速度,控制原理简单,实用性强。(The invention discloses a rotating electrical machine control method and a rotating electrical machine, wherein the rotating electrical machine control method comprises the following steps: acquiring a first frequency and a first alternating current wavelength; acquiring a second frequency and a second alternating current wavelength; acquiring a first wave speed according to the first frequency and the first alternating current wavelength, wherein the first wave speed is the wave speed of voltage on the rotor; acquiring a second wave speed according to the second frequency and the second alternating current wavelength, wherein the second wave speed is the wave speed of the voltage on the stator; acquiring the linear velocity of the midpoint of the electrode on the mover according to the first wave velocity and the second wave velocity; acquiring the angular velocity of the motion of the rotor according to the linear velocity of the middle point of the electrode on the rotor and the diameter of the rotor; and controlling the rotating speed of the rotating motor according to the angular speed of the movement of the rotor. The invention can change the motion speed of the rotor by controlling the accessed voltage and frequency, and has simple control principle and strong practicability.)

1. A method of controlling a rotary electric machine, the electric machine including a mover and a stator, comprising:

acquiring a first frequency and a first alternating current wavelength; wherein the first frequency is a frequency of an alternating current on the mover, and the first alternating current wavelength is a wavelength of the alternating current on the mover;

acquiring a second frequency and a second alternating current wavelength; wherein the second frequency is the frequency of the alternating current on the stator, and the second wavelength of the alternating current is the wavelength of the alternating current on the stator;

acquiring a first wave speed according to the first frequency and the first alternating current wavelength, wherein the first wave speed is the wave speed of voltage on the rotor;

acquiring a second wave speed according to the second frequency and the second alternating current wavelength, wherein the second wave speed is the wave speed of the voltage on the stator;

acquiring the linear velocity of the midpoint of the electrode on the mover according to the first wave velocity and the second wave velocity;

acquiring the angular velocity of the motion of the rotor according to the linear velocity of the middle point of the electrode on the rotor and the diameter of the rotor;

and controlling the rotating speed of the rotating motor according to the angular speed of the movement of the rotor.

2. A rotating electric machine control method according to claim 1, characterized in that the alternating current frequency includes a voltage frequency and/or a current frequency of the alternating current.

3. A rotating electrical machine, characterized by comprising: a mover and a stator;

the rotor and the stator all include electrode, power supply bus and flexible insulating layer, the electrode is connected the power supply bus, the rotor internal surface is provided with first flexible insulating layer, and the stator surface is provided with the flexible insulating layer of second, the rotor is relative the stator is rotary motion.

4. A rotary electric machine according to claim 3, comprising a plurality of layers of movers and a plurality of stators, the number of the plurality of movers being the same as the number of the stators, the plurality of layers of movers being arranged alternately with the plurality of layers of stators.

5. A rotating electric machine according to claim 3, further comprising power supply modules connected to the electrodes of the mover and the stator, respectively, for supplying alternating current to the electrodes of the mover and the stator for generating electrostatic force.

6. A rotating electric machine according to claim 5, characterized in that the alternating current is a multi-phase alternating current in which a frequency difference exists.

Technical Field

The invention relates to the field of motors, in particular to a rotating motor control method and a rotating motor.

Background

Along with the development of industrial technology, requirement to drive arrangement constantly improves, especially along with the development of most advanced industrial technology such as robot, traditional motor presents the defect such as complicated structure, control complicacy, weight are big gradually such as squirrel-cage motor, consequently increases to the demand of small-size, miniature driver at present, and the requirement that controls the ability to the motor itself simultaneously constantly improves.

At present, along with the continuous promotion of science and industry leading edge, to miniaturized, the flexibility development of drive arrangement's requirement gradually, traditional motor receives the structural constraint of itself, can't realize flexible action, receives the influence of yardstick effect simultaneously, and it is little to appear driving force after the miniaturized design, consequently urgently needs a neotype drive technique in order to satisfy the requirement in this field.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a rotating electrical machine control method which can enable the control of the rotating electrical machine to be simpler.

The invention also provides a rotating motor.

In a first aspect, an embodiment of the present invention provides a rotating electrical machine control method: the method comprises the following steps:

acquiring a first frequency and a first alternating current wavelength; wherein the first frequency is a frequency of an alternating current on the mover, and the first alternating current wavelength is a wavelength of the alternating current on the mover; acquiring a second frequency and a second alternating current wavelength; wherein the second frequency is the frequency of the alternating current on the stator, and the second wavelength of the alternating current is the wavelength of the alternating current on the stator; acquiring a first wave speed according to the first frequency and the first alternating current wavelength, wherein the first wave speed is the wave speed of voltage on the rotor; acquiring a second wave speed according to the second frequency and the second alternating current wavelength, wherein the second wave speed is the wave speed of the voltage on the stator; acquiring the linear velocity of the midpoint of the electrode on the mover according to the first wave velocity and the second wave velocity; acquiring the angular velocity of the motion of the rotor according to the linear velocity of the middle point of the electrode on the rotor and the diameter of the rotor; and controlling the rotating speed of the rotating motor according to the angular speed of the movement of the rotor.

The rotating electric machine control method of the embodiment of the invention at least has the following beneficial effects: the wave velocity of the rotor and the wave velocity of the stator can be obtained through the frequency and the alternating current wavelength, the linear velocity of the middle line of the electrode of the rotor can be obtained through the wave velocity, the angular velocity of the motor can be obtained through the linear velocity, the rotating speed of the rotating motor can be controlled, the control principle is simple, and the practicability is high.

In another embodiment of the invention, the alternating current frequency comprises a voltage frequency and/or a current frequency of the alternating current.

In a second aspect, an embodiment of the present invention provides a rotary electric machine including: a mover and a stator;

the rotor and the stator all include electrode, power supply bus and flexible insulating layer, the electrode is connected the power supply bus, the rotor internal surface is provided with first flexible insulating layer, and the stator surface is provided with the flexible insulating layer of second, the rotor is relative the stator is rotary motion.

The rotating motor provided by the embodiment of the invention at least has the following beneficial effects: the flexible film structure is adopted, the motor has a simple structure, and the control method is simple, convenient and good in controllability; can fold the distortion wantonly in the use, increase the application range of motor, work small in noise, it is little to generate heat, can be used to special environment and condition, increases the practicality of motor.

In another embodiment of the present invention, the multi-layer rotor comprises a plurality of layers of rotors and a plurality of stators, the number of the rotors is the same as that of the stators, and the plurality of rotors and the plurality of stators are arranged in a staggered manner.

In another embodiment of the present invention, the apparatus further includes a power supply module, where the power supply module is respectively connected to the electrodes of the mover and the stator, and the power supply module is configured to provide alternating current to the electrodes of the mover and the stator, and the electrodes are configured to generate an electrostatic force.

In another embodiment of the present invention, the alternating current is a multi-phase alternating current having a frequency difference.

Drawings

FIG. 1 is a schematic flow chart diagram illustrating an exemplary method for controlling a rotating electrical machine in accordance with an embodiment of the present invention;

fig. 2 is a schematic structural view of an embodiment of a rotating electric machine according to the present invention;

fig. 3 is a schematic diagram of the operation of an embodiment of a rotating electric machine in an embodiment of the present invention.

Reference numerals:

the rotary electric machine includes a rotary electric machine body 100, a mover 110, a stator 120, electrodes 130, a power supply bus 140, a power supply contact 150, and a flexible insulating layer 160.

Detailed Description

The concept and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments to fully understand the objects, features and effects of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and those skilled in the art can obtain other embodiments without inventive effort based on the embodiments of the present invention, and all embodiments are within the protection scope of the present invention.

In the description of the present invention, if an orientation description is referred to, for example, the orientations or positional relationships indicated by "upper", "lower", "front", "rear", "left", "right", etc. are based on the orientations or positional relationships shown in the drawings, only for convenience of describing the present invention and simplifying the description, but not for indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. If a feature is referred to as being "disposed," "secured," "connected," or "mounted" to another feature, it can be directly disposed, secured, or connected to the other feature or indirectly disposed, secured, connected, or mounted to the other feature.

In the description of the embodiments of the present invention, if "a number" is referred to, it means one or more, if "a plurality" is referred to, it means two or more, if "greater than", "less than" or "more than" is referred to, it is understood that the number is not included, and if "greater than", "lower" or "inner" is referred to, it is understood that the number is included. If reference is made to "first" or "second", this should be understood to distinguish between features and not to indicate or imply relative importance or to implicitly indicate the number of indicated features or to implicitly indicate the precedence of the indicated features.

Referring to fig. 1, a flowchart illustrating a method of controlling a rotating electric machine according to an embodiment of the present invention is shown. The method specifically comprises the following steps:

s100: obtaining a first frequency w₁And a first alternating current wavelength; wherein the first frequency w₁The frequency of the alternating current on the mover is shown, and the wavelength of the first alternating current is the wavelength of the alternating current on the mover;

s200, acquiring a second frequency w₂And a second alternating current wavelength; wherein the second frequency w₂The frequency of the alternating current on the stator, and the wavelength of the second alternating current is the wavelength of the alternating current on the stator;

in some embodiments, the first frequency w is obtained₁A second frequency w₂And an alternating current wavelength 3p for obtaining a voltage frequency w on the mover₁Frequency w of the voltage on the stator₂And an alternating current wavelength 3 p. It is understood that the embodiment is exemplified by three-phase power, and in order to make the calculation clearer, the first alternating current wavelength and the second alternating current wavelength are both defined as 3 p.

S300: according to the first frequency w₁And the first AC wavelength is used for obtaining a first wave velocity v₁First wave velocity v₁The wave speed of the voltage on the rotor;

s400: according to the second frequency w₂And a second AC wavelength to obtain a second wave velocity v₂Second wave velocity v₂Is the wave velocity of the voltage on the stator;

in some embodiments, the first frequency w is passed₁A second frequency w₂And calculating a first wave velocity v by the AC wavelength 3p₁And a second wave velocity v₂Specifically, the formula is used:

wherein, w₁And w₂Not equal, in the implementation of this embodiment, w₁＝-w₂。

S500: according to the first wave velocity v₁And said second wave velocity v₂Acquiring the linear velocity of the midpoint of an electrode on the rotor;

in some embodiments, the first wave velocity v is passed₁And a second wave velocity v₂Calculating the linear velocity V of the midpoint of the electrode on the rotor by using a formula:

V＝v₁-v₂(3)

wherein the first wave velocity v₁Being the wave velocity of the voltage on the mover, a second wave velocity v₂Is the wave speed of the voltage on the stator.

S600: acquiring the angular velocity omega of the mover motion according to the linear velocity V of the middle point of the electrode on the mover and the diameter D of the mover;

and S700, controlling the rotating speed of the rotating motor according to the angular speed omega of the movement of the rotor.

In some embodiments, the angular velocity ω of the mover motion is obtained by the point-line velocity V of the electrodes and the diameter D of the mover, and specifically by using the formula:

wherein, omega represents the angular speed of the mover motion, the unit is rad/s, V is electrified on the moverLinear velocity of extreme mid-point in m/s, v₁And v₂The unit is m/s, 3p is the wavelength of the accessed alternating current, and the unit is m, w₁And w₂The frequency of alternating current on the mover and the stator is in Hz.

The voltage wave speed is limited, and in the present embodiment, the voltage wave speed is between 5 and 20.

The control method of the rotating electrical machine in the embodiment is used for controlling the rotating electrical machine, the control principle is simple, understanding and implementation are easy, and the practicability of the rotating electrical machine is improved.

Referring to fig. 2, a schematic structural diagram of a specific embodiment of the rotating electric machine according to the embodiment of the present invention is shown.

In some embodiments, the rotating electrical machine in the present embodiment comprises a machine body 100, the body 100 comprising a mover 110, a stator 120, wherein the mover 110 is used for obtaining the upper first frequency w₁And a first wave velocity v₁Wherein the first frequency is the frequency of the alternating current on the mover, and the wavelength of the first alternating current is the wavelength of the alternating current on the mover, and wherein the stator 120 is configured to obtain the second frequency w₂And a second wave velocity v₂(ii) a The mover 110 and the stator 120 each include an electrode 130, a power supply bus 140, and a flexible insulating layer 160, and the mover 110 and the stator 120 perform a rotational motion in the bonding plane.

In some embodiments, the mover 110 and the stator 120 are both flexible structures, and are composed of flexible insulating films, uniformly arranged electrodes 130, and power supply buses 140. The electrodes 130 have extremely small radial size and are distributed in a multi-phase alternating manner, each group of the electrodes 130 corresponds to the number of phases of a driving power supply, one group of three or four phases is provided, the electrodes 130 are distributed with power supply buses 140, the number of the buses corresponds to the number of the phases of the driving power supply, the end parts of the power supply buses 140 are provided with power supply contacts 150 for connecting with an external power supply and connecting electrodes of the same phase power supply, the electrodes connected to the same phase power supply are powered by one bus, for example, if the motor uses three-phase alternating current, the three phases of the electrodes 130 are distributed in an alternating manner, the adjacent electrodes 130 are respectively of an A phase, a B phase and a C phase, all the electrodes connected with the A phase power in the electrodes 130 share one power supply bus 140, all the electrodes connected with the B phase share one power supply bus 140, and all the electrodes connected with the.

In some embodiments, as shown in fig. 2, the motor power supply buses are distributed such that the upper layer is two power supply buses 140 capable of supplying power for two phases, and the lower layer is one power supply bus 140 for one phase, for example, if the upper layer is the power supply buses 140 for a phase a and a phase B, the lower layer is the power supply bus 140 for a phase C, and similarly, the upper layer is the power supply buses 140 for a phase a and a phase C, and the lower layer is the power supply bus 140 for a phase B, which has the main advantage of effective space utilization and avoidance of waste of wiring space.

In some embodiments, the electrodes 130 and the power bus 140 are wrapped with a flexible insulating layer 160, which serves to insulate and protect the internal circuitry and electrodes. When the motor works, multiphase alternating currents are supplied to the mover 110 and the stator 120 through an external alternating current power supply, and a frequency difference exists between the alternating currents supplied to the mover 110 and the stator 120, so that corresponding electrodes on the mover 110 and the stator 120 are charged with opposite polarities, and an electrostatic force is generated to drive the mover 110 to move relative to the stator 120, so that electric energy is converted into mechanical energy. In addition, the electrode in this embodiment uses a flexible insulating layer structure, more specifically, the electrode in this embodiment uses a flexible insulating film structure, and can be bent at will.

In some embodiments, the flexible insulating layer 160 is made of polyimide, and can be freely bent, folded, and wound, and can also be freely moved and stretched in a three-dimensional space, and has the characteristics of thinness and good heat dissipation.

In some embodiments, a plurality of layers of movers and a plurality of stators are included, the number of the plurality of movers is the same as the number of the stators, and the plurality of movers are disposed to be staggered with the plurality of stators.

In some embodiments, one layer of structure is the upper layer is the mover 110, the lower layer is the stator 120, or the upper layer is the stator 120, and the lower layer is the mover 110, the multilayer alternate stacking structure is that the upper layer is the mover 110, the second layer is the stator 120, the third layer is the mover 110, the fourth layer is the stator 120, which alternate in sequence, and the positions of the mover 110 and the stator 120 may be replaced with each other, where the mover 110 and the stator 120 are connected with alternating current, the alternating current is multiphase alternating current with a frequency difference for generating electrostatic force, it can be understood that the positions of the mover 110 and the stator 120 may be exchanged, for example, the upper layer is the mover 110, the lower layer is the stator 120, the upper layer is the stator 120, and the lower layer is the mover 110, which has the same structural principle.

The embodiment of the invention further comprises a power supply module, which is respectively connected with the electrode of the mover and the electrode of the stator, and is used for providing alternating current to the electrode of the mover and the electrode of the stator, and the electrodes are used for generating electrostatic force.

In particular, the embodiment uses three-phase ac power, which can be switched in four or more phases according to the application requirement,

in the embodiment, a single-layer mover and a single-layer stator are taken as an example for explanation, but the mover and the stator may be distributed in a single-layer or multi-layer overlapping manner.

More specifically, referring to fig. 2, the mover 110 and the stator 120 adopt the same structure, and each includes a flexible insulating layer 160, a power supply bus 140, electrodes 130 and power supply contacts 150, the electrodes 130 are uniformly and alternately distributed around the circumference, the number of the electrodes 130 in each group is the same as the number of the power supply buses 140, so that each electrode 130 is connected to one power supply bus 140, and the number of the electrodes 130 in each group and the number of the power supply buses 140 are both consistent with the number of phases of the external alternating current, taking the three-phase power used in this embodiment as an example, the number of the electrodes 130 in each group is three, the number of the power supply buses 140 is three, the electrodes 130 are communicated with the corresponding power supply buses 140, the power supply buses 140 are communicated with an external power supply through the power supply contacts 150, and also can directly supply power to the power supply buses 140 by using brushes, the structure in this embodiment is more, and (4) utilizing motor fault removal and maintenance.

More specifically, in the present embodiment, the rotary motor includes a rotor 110 and a stator 120, both of which are flexible structures, and it can be understood that the flexible structures refer to structures whose geometric non-linear factors have a large influence and are not negligible in the analysis process. The mover 110 and the stator 120 are attached to each other, and a medium that can be filled with insulation and lubrication is provided in the attachment surface, and the medium of the attachment surface may be air or another insulating medium that can perform a lubricating function.

Specifically, in this embodiment, the motor is powered by three-phase or multi-phase ac power, and the power supply contacts 150 are disposed at the end of the power supply bus 140, and may be powered by the same power source or separate power sources.

The electrode 130 is made of copper or other conductive materials.

The flexible insulating layer 160 between the mover 110 and the stator 120 is formed by a following plating process:

s1000: preparing an insulating flexible insulating layer 160 by a vacuum coating mode;

s2000: printing a first layer of electrodes 130 and a power supply bus 140 on the surface of the flexible insulating layer 160 in a circuit etching mode;

s3000: plating a flexible insulating layer 160 on the first layer in a magnetron sputtering or vacuum coating mode;

s4000: second layer electrodes 130 and power supply bus 140 are printed on flexible insulating layer 160 by etching a circuit

S5000: processing the flexible insulating layer 160 by magnetron sputtering or vacuum coating over the second layer

In some embodiments of the present invention, the electrode uses a flexible insulating layer structure, more specifically, a flexible thin film structure, which can be bent at will and can generate a large displacement. The mover 110 is movable within the contact surface by the electrostatic force generated by the electrodes 130, and the mover 110 is preferably slidable within the contact surface in a direction perpendicular to the electrodes 130. Movement of mover 110The speed of motion depends on the frequency and amplitude of the incoming alternating voltage. Wherein the moving speed of the mover 110 depends on the frequency of the accessed alternating voltage, and assuming that the wavelength of the accessed alternating current is 3p, the speeds of the mover 110 and the stator 120 are respectively Wherein v is₁，v₂Is the voltage wave velocity, w, on the mover 110 and the stator 120₁，w₂The frequencies of the voltages on the mover 110 and the stator 120, respectively, are different, and the mover 110 will move in the direction of the velocity difference of the wave velocity, which is V ═ V, due to the difference in frequency₁-v₂When the three-phase voltages of the mover 110 and the stator 120 are reversely connected, i.e., the voltage frequency w of the mover 110₁And the voltage frequency w of the stator 120₂Has a relationship of w₁＝-w₂When the mover 110 moves at a speed of

In some embodiments of the present invention, the rotating electrical machine in this embodiment may use a power supply bus 140 to supply power, because the electrodes 130 are arranged, a multi-layer printing is required, a dotted line in the figure is the power supply bus 140 printed on the bottom layer, when the circuit is connected, because the circuit has a frequency difference, a group of corresponding electrodes 130 has charges with opposite polarities, so that the mover 110 and the stator 120 can be attached to each other, and an electrostatic force is generated to push the mover to rotate in the attachment surface, when the mover 110 rotates through a certain included angle, the charge polarity of the electrodes 130 changes, and the mover 110 is continuously pushed to rotate.

Specifically, referring to fig. 3, which is an operation schematic diagram of a specific embodiment of a rotating electrical machine according to an embodiment of the present invention, taking a three-phase alternating current 200 as an example, a group of three electrodes is respectively connected to an anode, a cathode, and a zero line in the three-phase alternating current 200, and may be divided into N groups according to the total number of the electrodes, for example, the total number of the electrodes is 180, and then the groups are divided into 60 groups, each group of three electrodes, and the three electrodes are respectively connected to any phase in the three-phase alternating current 200, as long as phase alternation is satisfied, that is, phases of any two adjacent electrodes. Therefore, the motor can be ensured to be continuously supplied with power, and the motor can continuously and stably run under the power supply condition.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.