阅读说明：本技术 动磁铁式磁悬浮平面电机及其换向方法、换向装置 (Moving magnet type magnetic suspension planar motor and reversing method and reversing device thereof ) 是由 曹广忠 胡智勇 黄苏丹 符兴东 杨晓生 于 2020-04-02 设计创作，主要内容包括：本发明实施例公开了一种动磁铁式磁悬浮平面电机及其换向方法、换向装置。所述换向方法包括：定位所述动子相对于所述定子线圈组的位置,得到动子位置信息；根据所述动子位置信息,确定选定的线圈；其中,所述选定的线圈包括与所述动子正对的线圈,以及与所述动子的端部的距离在预设距离内的线圈；根据所述选定的线圈生成控制信号,控制所述驱动器向所述选定的线圈通电。与现有技术相比,本发明实施例在减少电机电能损耗的基础上,实现了电机的高精度运行。(The embodiment of the invention discloses a moving magnet type magnetic suspension planar motor, a reversing method and a reversing device thereof. The reversing method comprises the following steps: positioning the position of the rotor relative to the stator coil group to obtain rotor position information; determining a selected coil according to the rotor position information; the selected coils comprise coils which are opposite to the rotor and coils which are within a preset distance from the end of the rotor; and generating a control signal according to the selected coil, and controlling the driver to electrify the selected coil. Compared with the prior art, the embodiment of the invention realizes the high-precision operation of the motor on the basis of reducing the electric energy loss of the motor.)

1. The reversing method of the moving magnet type magnetic suspension planar motor is characterized in that the moving magnet type magnetic suspension planar motor comprises a plurality of groups of stator coil groups, a rotor and a driver; wherein each set of stator coils comprises at least two phases of coils; the driver is electrically connected with the coil;

the reversing method comprises the following steps:

positioning the position of the rotor relative to the stator coil group to obtain rotor position information;

determining a selected coil according to the rotor position information; the selected coils comprise coils which are opposite to the rotor and coils which are within a preset distance from the end of the rotor;

and generating a control signal according to the selected coil, and controlling the driver to electrify the selected coil.

2. Method for commutating a moving-magnet magnetic levitation planar motor as claimed in claim 1, characterized in that the predetermined distance is greater than or equal to half the pole pitch of the moving-magnet magnetic levitation planar motor.

3. The method of claim 1, wherein the mover comprises a spliced plurality of magnet arrays;

the method for positioning the position of the rotor relative to the stator coil group to obtain rotor position information comprises the following steps:

and positioning the positions of the plurality of magnet arrays relative to the stator coil group to obtain a plurality of magnet array position information.

4. The method of claim 3, wherein the coils within a preset distance from an end of the mover comprise:

a coil within a preset distance from a first end of the magnet array; and a coil within a preset distance from the second end of the magnet array.

5. The method of claim 4, wherein the set of stator coils comprises: the phase-A coil, the phase-B coil, the phase-C coil and the phase-D coil; the A-phase coil, the B-phase coil, the C-phase coil and the D-phase coil are arranged in a mode that a positive pole of the A-phase coil, a positive pole of the B-phase coil, a positive pole of the C-phase coil, a positive pole of the D-phase coil, a negative pole of the A-phase coil, a negative pole of the B-phase coil, a negative pole of the C-phase coil and a negative pole of the D-phase coil are sequentially arranged;

if the positive pole of the phase A coil or the negative pole of the phase A coil is opposite to the magnet array; or the distance between the anode of the phase A coil or the cathode of the phase A coil and the end part of the magnet array is within the preset distance, and the phase A coil is a selected coil;

if the positive pole of the phase B coil or the negative pole of the phase B coil is opposite to the magnet array; or the distance between the positive pole of the B-phase coil or the negative pole of the B-phase coil and the end part of the magnet array is within the preset distance, and the B-phase coil is a selected coil;

if the positive pole of the C-phase coil or the negative pole of the C-phase coil is opposite to the magnet array; or the distance between the positive pole of the C-phase coil or the negative pole of the C-phase coil and the end part of the magnet array is within the preset distance, and the C-phase coil is a selected coil;

if the positive pole of the D-phase coil or the negative pole of the D-phase coil is opposite to the magnet array; or the distance between the positive pole of the D-phase coil or the negative pole of the D-phase coil and the end part of the magnet array is within the preset distance, and then the D-phase coil is the selected coil.

6. A reversing device of a moving magnet type magnetic suspension planar motor is characterized in that the moving magnet type magnetic suspension planar motor comprises a plurality of groups of stator coil groups, a rotor and a driver; wherein each set of stator coils comprises at least two phases of coils; the driver is electrically connected with the coil;

the reversing device comprises:

the position information acquisition module is used for positioning the position of the rotor relative to the stator coil group to obtain rotor position information;

the coil determining module is used for determining the selected coil according to the rotor position information; the selected coils comprise coils which are opposite to the rotor and coils which are within a preset distance from the end of the rotor;

and the control signal generation module is used for generating a control signal according to the selected coil and controlling the driver to electrify the selected coil.

7. A moving magnet type magnetic suspension planar motor is characterized by comprising: a mover, a plurality of sets of stator coils, a driver, and a commutation apparatus according to claim 6;

wherein each set of stator coils comprises at least two phases of coils;

the driver is electrically connected with the coil and used for electrifying the coil so as to drive the rotor to move.

8. Moving magnet magnetic levitation planar motor as claimed in claim 7, wherein the number of drives is equal to the number of phases of the coils.

9. Moving magnet magnetic levitation planar motor as claimed in claim 7, wherein each phase of the coil comprises a positive pole and a negative pole;

the coils in the stator coil group are arranged in a mode that the anodes of the coils are arranged adjacently and the cathodes of the coils are arranged adjacently; the distance between the positive pole and the negative pole of each coil is equal.

10. Moving magnet magnetic levitation planar motor as claimed in claim 7, wherein the mover comprises a spliced array of magnets.

11. Moving magnet magnetic levitation planar motor as claimed in claim 10, wherein the magnet array comprises a halbach array.

12. The moving magnet magnetic levitation planar motor as recited in claim 11, wherein the halbach array comprises a plurality of segmented magnets arranged in a circular sequence; and along the arrangement direction of the segmented magnets, the magnetization directions of the segmented magnets are sequentially rotated by 90 degrees along the clockwise direction.

13. Moving magnet magnetic levitation planar motor as claimed in claim 10, wherein the number of magnet arrays is four;

the number of phases of the coils of each stator coil group is four.

Technical Field

The embodiment of the invention relates to the technical field of electrode control, in particular to a moving magnet type magnetic suspension planar motor and a reversing method and a reversing device thereof.

Background

The moving magnet type magnetic suspension planar motor is a novel two-dimensional planar direct-drive device, has the advantages of simple structure, low cost, low heat consumption, high reliability, no heat generation of a rotor, no cable winding and the like, and has application prospect in the field of ultra-precise manufacturing.

At present, the problems of heat and energy consumption of the motor are the key points of attention in the research field of the motor. The stator of the moving magnet type magnetic suspension planar motor is a PCB coil array, and all the PCB coil arrays are kept in an electrified state in the running process of the motor so as to generate continuous motor electromagnetic force for supporting the suspension of the motor. The stator PCB coil array full-power-on mode is simple to realize and convenient to control, but the PCB generates heat seriously and causes larger electric energy loss, and the energy-saving concept of the current novel motor is not met; however, when the motor is electrified in a small range, an end effect can be generated, and the high-precision running of the motor is seriously influenced. Therefore, the prior art cannot realize both energy conservation and high-precision operation of the motor.

Disclosure of Invention

The embodiment of the invention provides a moving magnet type magnetic suspension planar motor, a reversing method and a reversing device thereof, which aim to realize high-precision operation of the motor on the basis of reducing the electric energy loss of the motor.

In a first aspect, an embodiment of the present invention provides a method for commutating a moving magnet type magnetic suspension planar motor, where the moving magnet type magnetic suspension planar motor includes multiple sets of stator coil sets, a mover, and a driver; wherein each set of stator coils comprises at least two phases of coils; the driver is electrically connected with the coil;

the reversing method comprises the following steps:

positioning the position of the rotor relative to the stator coil group to obtain rotor position information;

determining a selected coil according to the rotor position information; the selected coils comprise coils which are opposite to the rotor and coils which are within a preset distance from the end of the rotor;

and generating a control signal according to the selected coil, and controlling the driver to electrify the selected coil.

Optionally, the preset distance is greater than or equal to half of the pole pitch of the moving magnet type magnetic levitation planar motor.

Optionally, the mover comprises a spliced plurality of magnet arrays;

the method for positioning the position of the rotor relative to the stator coil group to obtain rotor position information comprises the following steps:

and positioning the positions of the plurality of magnet arrays relative to the stator coil group to obtain a plurality of magnet array position information.

Optionally, the coil having a distance from an end of the mover within a preset distance includes:

a coil within a preset distance from a first end of the magnet array; and a coil within a preset distance from the second end of the magnet array.

Optionally, the stator coil set includes: the phase-A coil, the phase-B coil, the phase-C coil and the phase-D coil; the A-phase coil, the B-phase coil, the C-phase coil and the D-phase coil are arranged in a mode that a positive pole of the A-phase coil, a positive pole of the B-phase coil, a positive pole of the C-phase coil, a positive pole of the D-phase coil, a negative pole of the A-phase coil, a negative pole of the B-phase coil, a negative pole of the C-phase coil and a negative pole of the D-phase coil are sequentially arranged;

if the positive pole of the phase A coil or the negative pole of the phase A coil is opposite to the magnet array; or the distance between the anode of the phase A coil or the cathode of the phase A coil and the end part of the magnet array is within the preset distance, and the phase A coil is a selected coil;

if the positive pole of the phase B coil or the negative pole of the phase B coil is opposite to the magnet array; or the distance between the positive pole of the B-phase coil or the negative pole of the B-phase coil and the end part of the magnet array is within the preset distance, and the B-phase coil is a selected coil;

if the positive pole of the C-phase coil or the negative pole of the C-phase coil is opposite to the magnet array; or the distance between the positive pole of the C-phase coil or the negative pole of the C-phase coil and the end part of the magnet array is within the preset distance, and the C-phase coil is a selected coil;

if the positive pole of the D-phase coil or the negative pole of the D-phase coil is opposite to the magnet array; or the distance between the positive pole of the D-phase coil or the negative pole of the D-phase coil and the end part of the magnet array is within the preset distance, and then the D-phase coil is the selected coil.

In a second aspect, an embodiment of the present invention further provides a commutation apparatus for a moving-magnet type magnetic levitation planar motor, where the moving-magnet type magnetic levitation planar motor includes multiple sets of stator coil sets, a mover and a driver; wherein each set of stator coils comprises at least two phases of coils; the driver is electrically connected with the coil;

the reversing device comprises:

the position information acquisition module is used for positioning the position of the rotor relative to the stator coil group to obtain rotor position information;

the coil determining module is used for determining the selected coil according to the rotor position information; the selected coils comprise coils which are opposite to the rotor and coils which are within a preset distance from the end of the rotor;

and the control signal generation module is used for generating a control signal according to the selected coil and controlling the driver to electrify the selected coil.

In a third aspect, an embodiment of the present invention further provides a moving magnet type magnetic levitation planar motor, where the moving magnet type magnetic levitation planar motor includes: the stator comprises a rotor, a plurality of groups of stator coil groups, a driver and a reversing device according to any embodiment of the invention;

wherein each set of stator coils comprises at least two phases of coils;

the driver is electrically connected with the coil and used for electrifying the coil so as to drive the rotor to move.

Optionally, the number of drivers is equal to the number of phases of the coils.

Optionally, each phase of the coil comprises a positive electrode and a negative electrode;

the coils in the stator coil group are arranged in a mode that the anodes of the coils are arranged adjacently and the cathodes of the coils are arranged adjacently; the distance between the positive pole and the negative pole of each coil is equal.

Optionally, the mover comprises a spliced plurality of magnet arrays.

Optionally, the magnet array comprises a halbach array.

Optionally, the halbach array comprises a plurality of segmented magnets arranged in a cycle in sequence; and along the arrangement direction of the segmented magnets, the magnetization directions of the segmented magnets are sequentially rotated by 90 degrees along the clockwise direction.

Optionally, the number of magnet arrays is four; the number of phases of the coils of each stator coil group is four.

The embodiment of the invention provides a moving magnet type magnetic suspension planar motor commutation method, which determines selected coils through the position of a rotor relative to a stator coil group and energizes the selected coils, wherein the selected coils comprise coils directly opposite to the rotor and coils within a preset distance from the end of the rotor. According to the embodiment of the invention, on one hand, power supply for all stator coil groups is not needed, so that the heating and electric energy loss of the motor are reduced, and the energy efficiency and the motor efficiency are improved; on the other hand, the problem of the end effect of the rotor magnetic field is solved, so that the motor can be smoothly commutated, the motor force pulsation is reduced, and the motor motion precision is improved. In conclusion, the embodiment of the invention realizes high-precision operation of the motor on the basis of reducing the electric energy loss of the motor.

Drawings

Fig. 1 is a schematic structural diagram of a moving magnet type magnetic levitation planar motor according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a mover according to a first embodiment of the present invention;

fig. 3 is a schematic cross-sectional view of a moving magnet type magnetic levitation planar motor in a yz plane according to an embodiment of the present invention;

fig. 4 is a flowchart of a commutation method of a moving magnet type magnetic levitation planar motor according to a second embodiment of the present invention;

fig. 5 to 9 are schematic diagrams illustrating the coils being energized when the mover is at different positions according to the second embodiment of the present invention;

fig. 10 is a block diagram of a commutation apparatus of a moving-magnet magnetic levitation planar motor according to a third embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In order to clearly illustrate the commutation method of the moving magnet type magnetic levitation planar motor provided by the embodiment of the present invention, first, the structure of the moving magnet type magnetic levitation planar motor provided by the embodiment of the present invention is described.