阅读说明：本技术 一种用于水下航行器的大功率差对转电机 (High-power differential counter-rotating motor for underwater vehicle ) 是由 毛昭勇 欧焕宇 田文龙 于 2020-12-01 设计创作，主要内容包括：本发明提供了一种用于水下航行器的大功率差对转电机,包括内转子、外转子及内外转子之间的定子电枢,外转子永磁体和磁路Ⅰ定子电枢组成磁路Ⅰ,内转子永磁体和磁路Ⅱ定子电枢组成磁路Ⅱ,内转子永磁体和磁路Ⅲ定子电枢组成磁路Ⅲ；所述的内转子在低功率巡航阶段由磁路Ⅲ单独驱动,在高功率阶段由磁路Ⅱ、磁路Ⅲ共同驱动,通过内轴驱动水下航行器对转桨的后桨；磁路Ⅰ驱动外转子,通过外轴驱动水下航行器的前桨。本发明既能保证以高效率在低功率巡航阶段运行,又能保证高功率状态下运行的用于水下航行器的对转永磁同步电机。(The invention provides a high-power differential counter-rotating motor for an underwater vehicle, which comprises an inner rotor, an outer rotor and a stator armature between the inner rotor and the outer rotor, wherein the outer rotor permanent magnet and the stator armature of a magnetic circuit I form a magnetic circuit I, the inner rotor permanent magnet and the stator armature of the magnetic circuit II form a magnetic circuit II, and the inner rotor permanent magnet and the stator armature of a magnetic circuit III form a magnetic circuit III; the inner rotor is driven by the magnetic circuit III alone at the low-power cruising stage, is driven by the magnetic circuit II and the magnetic circuit III together at the high-power stage, and drives the underwater vehicle to rotate the rear propeller of the propeller through the inner shaft; the magnetic circuit I drives the outer rotor, and the front propeller of the underwater vehicle is driven through the outer shaft. The invention can ensure the running at the low-power cruising stage with high efficiency and ensure the counter-rotating permanent magnet synchronous motor for the underwater vehicle running in the high-power state.)

1. A high-power differential counter-rotating motor for an underwater vehicle comprises an inner rotor, an outer rotor and a stator armature between the inner rotor and the outer rotor, and is characterized in that the inner rotor comprises an inner rotor permanent magnet, an inner shaft and an inner rotor shell, the surface of the inner rotor permanent magnet is attached to the outer part of the inner rotor shell, two ends of the inner rotor shell are arranged on the stator shell through bearings and only allowed to rotate around the axis of the inner rotor shell, and the inner shaft is coaxially arranged outside one end surface of the inner rotor shell; the end part of the inner rotor is provided with a rotary transformer for measuring the position of the inner rotor; the outer rotor comprises an outer rotor permanent magnet, an outer shaft and an outer rotor shell, wherein the outer rotor permanent magnet is attached to the inside of the outer rotor shell, two ends of the outer rotor shell are mounted on the motor shell through bearings and only allowed to rotate around the axis of the outer rotor shell, the outer shaft is coaxially mounted outside one end face of the outer rotor shell, the outer shaft is a hollow cylinder, and the inner shaft coaxially penetrates through a cavity of the outer shaft; the end part of the outer rotor is provided with a rotary transformer for measuring the position of the outer rotor; the stator armature comprises a magnetic circuit I stator armature, a magnetic circuit II stator armature and a magnetic circuit III stator armature and is arranged on the stator shell; the outer rotor permanent magnet and the stator armature of the magnetic circuit I form a magnetic circuit I, the inner rotor permanent magnet and the stator armature of the magnetic circuit II form a magnetic circuit II, and the inner rotor permanent magnet and the stator armature of the magnetic circuit III form a magnetic circuit III; the inner rotor is driven by the magnetic circuit III alone at the low-power cruising stage, is driven by the magnetic circuit II and the magnetic circuit III together at the high-power stage, and drives the underwater vehicle to rotate the rear propeller of the propeller through the inner shaft; the magnetic circuit I drives the outer rotor, and the front propeller of the underwater vehicle is driven through the outer shaft.

2. The high-power differential counter-rotating motor for the underwater vehicle as claimed in claim 1, wherein the inner rotor permanent magnet and the outer rotor permanent magnet are designed into a common surface-mounted array mode or a Halbach array mode according to a motor magnetic circuit, so that an air gap magnetic field is closer to a sinusoidal distribution to improve the motor efficiency.

3. The high power differential pair-rotating electrical machine for underwater vehicles according to claim 1, characterized in that said inner rotor permanent magnets and said outer rotor permanent magnets are both of sintered samarium cobalt permanent magnet material.

4. The high-power differential counter-rotating motor for the underwater vehicle as claimed in claim 1, wherein the inner rotor permanent magnets of the magnetic circuits II and III are selected from one set of permanent magnets integrally or two sets of permanent magnets separately according to requirements.

5. The high power differential pair-rotating motor for underwater vehicles according to claim 1, characterized in that the stator armature of magnetic circuit I is arranged outside the stator housing, the stator armature of magnetic circuit II and the stator armature of magnetic circuit III are arranged inside the stator housing, and the space between the stator armature of magnetic circuit II and the stator armature of magnetic circuit III meets the space requirement of the stator end winding.

Technical Field

The invention relates to a motor, in particular to a high-power differential counter-rotating permanent magnet synchronous motor.

Background

With the rapid development of ocean science and technology, various underwater vehicles with specific tasks come up in endlessly. For some larger underwater vehicles, on one hand, due to the particularity of the tasks of such an underwater vehicle, two power states are required, namely a low power state in the cruising stage and a high power state in the task execution, it should be noted that the two power differences may be orders of magnitude, such as several kilowatts and one hundred kilowatts; on the other hand, in order to suppress the roll phenomenon, the underwater vehicle usually adopts a driving mode that the counter-rotating motor directly drives the counter-rotating paddles. Designers are eager to have higher speeds and longer ranges when designing such special underwater vehicles, i.e., how to make the underwater vehicles reach longer ranges within certain volume or weight constraints. In the design angle of the motor of the underwater vehicle, how to enable the motor to better meet two conditions (firstly, the motor can run at high power for a long time in a low-speed cruising stage, and secondly, the motor can ensure required output power at high efficiency in a short-term working high-power state) is an important research aspect for improving the overall efficiency and the voyage.

In order to meet the design requirements, designers purposefully enable the motor to have two output shafts, namely an inner shaft and an outer shaft, and respectively drive two single propellers of the contra-rotating propellers. In the design of the motor, a structural design of double magnetic circuits is usually adopted, each magnetic circuit meets the requirement according to the design in a high-power state, and in a low-power state, the power of the motor is reduced by a motor control method to enable the motor to reach a low-power operation state. This results in the motor designed for high power operating in a low power state, and it can be known from the efficiency curve of the motor that there is an optimum power state for the motor, and the high power motor operates at a lower power for a long time, which inevitably results in low operating efficiency of the motor.

Therefore, there is a need to design a dual-rotor counter-rotating machine that can satisfy high power conditions at high efficiency in low power conditions.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides a high-power differential counter-rotating motor for an underwater vehicle, which can be operated at a low-power cruising stage with high efficiency and can also be operated in a high-power state.

The technical scheme adopted by the invention for solving the technical problems is as follows: a high-power differential counter-rotating motor for an underwater vehicle comprises an inner rotor, an outer rotor and a stator armature between the inner rotor and the outer rotor.

The inner rotor comprises an inner rotor permanent magnet, an inner shaft and an inner rotor shell, wherein the surface of the inner rotor permanent magnet is attached to the outside of the inner rotor shell, two ends of the inner rotor shell are arranged on the stator shell through bearings and only allowed to rotate around the axis of the inner rotor shell, and the inner shaft is coaxially arranged outside one end surface of the inner rotor shell; the end part of the inner rotor is provided with a rotary transformer for measuring the position of the inner rotor;

the outer rotor comprises an outer rotor permanent magnet, an outer shaft and an outer rotor shell, wherein the outer rotor permanent magnet is attached to the inside of the outer rotor shell, two ends of the outer rotor shell are mounted on the motor shell through bearings and only allowed to rotate around the axis of the outer rotor shell, the outer shaft is coaxially mounted outside one end face of the outer rotor shell, the outer shaft is a hollow cylinder, and the inner shaft coaxially penetrates through a cavity of the outer shaft; the end part of the outer rotor is provided with a rotary transformer for measuring the position of the outer rotor;

the stator armature comprises a magnetic circuit I stator armature, a magnetic circuit II stator armature and a magnetic circuit III stator armature and is arranged on the stator shell; the outer rotor permanent magnet and the stator armature of the magnetic circuit I form a magnetic circuit I, the inner rotor permanent magnet and the stator armature of the magnetic circuit II form a magnetic circuit II, and the inner rotor permanent magnet and the stator armature of the magnetic circuit III form a magnetic circuit III;

the inner rotor is driven by the magnetic circuit III alone at the low-power cruising stage, is driven by the magnetic circuit II and the magnetic circuit III together at the high-power stage, and drives the underwater vehicle to rotate the rear propeller of the propeller through the inner shaft; the magnetic circuit I drives the outer rotor, and the front propeller of the underwater vehicle is driven through the outer shaft.

The inner rotor permanent magnet and the outer rotor permanent magnet are designed into a common surface-mounted array mode or a Halbach array mode according to a motor magnetic circuit, so that an air gap magnetic field is closer to sinusoidal distribution to improve the motor efficiency.

The inner rotor permanent magnet and the outer rotor permanent magnet are made of sintered samarium cobalt permanent magnets.

And the inner rotor permanent magnets of the magnetic circuit II and the magnetic circuit III are selected to be an integral set of permanent magnets or two discrete sets of permanent magnets according to requirements.

The stator armature of the magnetic circuit I is arranged outside the stator shell, the stator armature of the magnetic circuit II and the stator armature of the magnetic circuit III are arranged inside the stator shell, and the space between the stator armature of the magnetic circuit II and the stator armature of the magnetic circuit III meets the space requirement of a stator end winding.

The invention has the beneficial effects that: the magnetic circuit III can work independently through control and adjustment, and can also work together with the magnetic circuit II in series to form a new combined magnetic circuit. When the magnetic circuit III works independently, the inner shaft 22 drives the rear propeller of the contra-rotating propeller, the magnetic circuit I and the magnetic circuit II do not work, the front propeller of the contra-rotating propeller is controlled to be self-locked and not rotate, and the underwater vehicle is in a low-power cruising stage; when the magnetic circuit III and the magnetic circuit II work in series, the two magnetic circuits jointly form a magnetic circuit driving inner shaft 22, the magnetic circuit III also starts to work to drive an outer shaft 23, the double propellers of the contra-rotating propellers start to work, and the underwater vehicle is in a high-power running state at the moment. Compared with the existing similar counter-rotating permanent magnet synchronous motor, the underwater vehicle has the advantages that when the underwater vehicle is in a low-power running state, only the magnetic circuit III works in a rated state, but not the high-power motor works in the low-power state, so that the working efficiency of the whole motor is improved; in the high-power state, the magnetic circuit II and the magnetic circuit III are connected in series to meet the high-power output of the inner shaft 22 of the counter-rotating motor, and the magnetic circuit I meets the high-power requirement of the outer shaft 23 of the counter-rotating motor according to the motor design. Therefore, the average efficiency of the motor in one working period of the underwater vehicle is improved by using the combination of the magnetic circuit II and the magnetic circuit III in stages. In addition, due to the combined use of the magnetic circuit III, a part of the permanent magnet is saved.

Drawings

Fig. 1 is an axial cross-sectional view of the present invention.

Fig. 2 is a radial cross-sectional view of the present invention at magnetic circuit i and magnetic circuit ii.

Fig. 3 is a radial cross-sectional view of the present invention at magnetic circuit iii.

Fig. 4 is an axial side view of the stator housing of the present invention.

Fig. 5 is an axial cross-sectional view of a stator end cap of the present invention.

In the figure, 1 is a motor casing end cover, 2 is an outer rotor shell end cover, 3 is a bearing, 4 is a through wire hole, 5 is a large-diameter rotary transformer, 6 is a bearing, 7 is a stator shell end cover, 8 is an inner rotor shell end cover, 9 is a rotary transformer, 10 is a stator shell gap, 11 is a motor casing, 12 is an inner rotor shell, 13 is a permanent magnet, 14 is a stator armature of a magnetic circuit I, 15 is an outer rotor shell, 16 is a stator armature of a magnetic circuit II, 17 is an inner rotor permanent magnet, 18 is a stator armature of a magnetic circuit III, 19 is a stator shell, 20 is a bearing, 21 is a bearing, 22 is an inner motor shaft, and 23 is an outer motor shaft.

Detailed Description

The invention provides a high-efficiency large-power-difference underwater vehicle contra-rotating permanent magnet synchronous motor which is characterized by comprising a magnetic circuit I consisting of a permanent magnet 13 and a magnetic circuit I stator armature 14, a magnetic circuit II consisting of a magnetic circuit II stator armature 16 and an inner rotor permanent magnet 17, and a magnetic circuit III consisting of a magnetic circuit III stator armature 18 and an inner rotor permanent magnet 17. The stator armature is mainly divided into an inner rotor, an outer rotor and a space between the inner rotor and the outer rotor according to the motion relationship, and the structural relationship is described below according to the classification.

The inner rotor permanent magnet 17 is attached to the outside of the inner rotor shell 12, and is connected with the inner shaft 22 and the inner rotor rear end cover 8 through screws to form the inner rotor, and two ends of the inner rotor are fixed on the stator shell through a bearing 6 and a bearing 20, and only the inner rotor is allowed to rotate around the axis of the inner rotor. The end of the inner rotor is provided with a resolver 9 to measure the position of the inner rotor for motor control.

The permanent magnet 13 is attached to the inside of the outer rotor shell 15, is connected with the outer shaft 23 and the outer rotor rear end cover 2 through screws to form an outer rotor, and two ends of the outer rotor are fixed on the motor shell 1 and the motor shell 11 through the bearing 3 and the bearing 21 and can only rotate around the axis of the outer rotor. And a large-caliber rotary transformer 5 is arranged at the end part of the outer rotor to measure the position of the outer rotor for motor control.

The magnetic circuit I stator armature 14, the magnetic circuit II stator armature 16 and the magnetic circuit III stator armature 18 are all arranged on the stator shell 19 in a way of end positioning and interference fit clamping, and the stator armature of the counter-rotating motor is formed. The terminal leads of the stator armature 14 and the stator armature 18 can be led to the outside via the cutouts 10 on the circumference of the stator housing 19 and the through-hole 4 in the stator housing end cover 7, while the signal leads of the resolver 5 and the resolver 9 can likewise be led to the outside via the through-hole 4.

Preferably, the permanent magnets 13 and 17 can be designed into a common surface-mounted array mode or a Halbach array mode according to the magnetic circuit of the motor, so that the air gap magnetic field is closer to sinusoidal distribution to improve the efficiency of the motor.

Preferably, the large-caliber rotary transformer 5 and the rotary transformer 9 can be selected to be suitable models according to the signal frequency controlled by the motor.

Preferably, the air gaps between the inner rotor and the stator, between the outer rotor and the stator and between the outer rotor and the motor shell are selected to be proper values according to the design experience of the motor, so that the air gap field of the motor is better.

Preferably, the groove type of the stator armature 14, the stator armature 16 and the stator armature 18 is selected from a pear-shaped groove, a fan-shaped groove, a flat-bottom groove and the like according to the design of the motor; the winding adjusts the conventional winding parameters such as line type, line diameter, conductor number of each slot and the like according to the design requirement of the motor.

Preferably, all connecting pieces of the motor, such as screws and the like, are selected according to the structural design requirements of the motor, so that the motor is reasonable in overall installation.

Various embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Like parts and structural elements are designated with like reference numerals throughout the various figures. In order to show the internal structure of the motor more clearly, some parts in the drawings are not drawn to a fixed scale, and in order to avoid the redundancy of the drawings, some parts in the drawings have no reference numbers, but do not affect the description of the drawings.

As shown in the attached figure 1, the structure of the counter-rotating permanent magnet synchronous motor with high power difference mainly comprises a magnetic circuit I consisting of a permanent magnet 13 and a stator armature 14 of the magnetic circuit I, a magnetic circuit II consisting of a stator armature 16 of the magnetic circuit II and an inner rotor permanent magnet 17, and a magnetic circuit III consisting of a stator armature 18 of the magnetic circuit III and the inner rotor permanent magnet 17. The inner surface of the permanent magnet 13 is attached to the inner wall of the outer rotor shell 15 to form an outer rotor of the magnetic circuit I, and the inner rotor permanent magnets 17 of the magnetic circuits II and III can be made into a set of longer permanent magnets according to needs or two sets respectively, but are attached to the outer wall of the inner rotor shell 12 shared by the magnetic circuits II and III to form an inner rotor of the driving inner shaft 22. The inner rotor is driven by the magnetic circuit III alone at the low-power cruising stage, and is driven by the magnetic circuit II and the magnetic circuit III together at the high-power stage. The magnetic circuit I stator armature 14 of the magnetic circuit I is arranged outside the counter-rotating permanent magnet motor stator shell 19, and the magnetic circuit II, the magnetic circuit II stator armature 16 of the magnetic circuit III and the magnetic circuit III stator armature 18 are arranged inside the motor stator shell 19. It should be noted that there should be sufficient space between the stator armature 16 of circuit ii and the stator armature 18 of circuit iii to meet the space requirements of the stator end windings.

When the underwater vehicle works, the motor firstly runs in a low-power state, the magnetic circuit III works alone in a rated state to drive the inner shaft 22 of the motor, so that the underwater vehicle drives the rear paddle of the contra-rotating paddle, the magnetic circuit I and the magnetic circuit II are both in a non-working state, the outer shaft 23 of the contra-rotating motor is locked through control, and the front paddle of the underwater vehicle does not work. When the underwater vehicle enters a high-speed operation state, a magnetic circuit I and a magnetic circuit II of the counter-rotating motor both start to work, wherein the magnetic circuit II and the magnetic circuit III are connected in series to form a new high-power magnetic circuit so as to drive an inner shaft 22 of the counter-rotating motor to operate in a high-power state, and the magnetic circuit I separately drives an outer shaft 23 of the counter-rotating motor to operate in a high-power state in a rated state as described above. At the moment, the front and the rear single propellers of the contra-rotating propellers of the underwater vehicle start to contra-rotate, so that the underwater vehicle runs at high speed. Therefore, the magnetic circuits are combined necessarily and used in stages according to the two power states of the underwater vehicle through the contra-rotating permanent magnet motor, and the average efficiency of the contra-rotating permanent magnet synchronous motor of the underwater vehicle in one working period is improved.

In a specific embodiment of the present invention, the permanent magnets of each magnetic circuit are arranged in a common surface-mount manner, as can be seen from fig. 2 and 3.

In a specific embodiment of the invention, the permanent magnets of the magnetic circuit II and the magnetic circuit III are integrated to ensure that the magnetic fields are distributed uniformly in the circumferential direction when the permanent magnets are connected in series.

In a specific embodiment of the invention, considering that the heat dissipation condition of the motor is poor and the working temperature of the motor is high, all the permanent magnets are made of high-temperature-resistant sintered samarium cobalt permanent magnet materials to prevent the permanent magnets from demagnetizing at high temperature.

In a specific embodiment of the invention, all winding enameled wires are insulated by H level in consideration of higher working temperature of the motor.

The specific assembling process is as follows: after the bearing 21 is installed at the end of the motor housing 11, the outer rotor with the permanent magnet 13 attached thereon is connected with the outer shaft 24 through screws at the end to form a whole, and then the outer rotor is integrally installed in place, and the outer shaft passes through the inner hole of the bearing 21. Then, the stator armatures of the counter-rotating motor, which are pre-installed with the stator armature 14 of the magnetic circuit I, the stator armature 16 of the magnetic circuit II and the stator armature 18 of the magnetic circuit III, are also installed in place, then the inner rotor of the counter-rotating motor, which is pasted with the inner rotor permanent magnet 17, is integrally installed in place, and the inner shaft 22 penetrates through the inner bearing hole at the end part of the stator of the motor and the inner hole of the outer shaft 23 to extend to. Finally, all end caps, bearings, and rotary transformers shown in FIG. 1 are installed in the position shown in FIG. 1. It should be noted that the stator armature lead wires and the resolver signal wires are noted during the installation process.

Finally, it should be noted that: it should be understood that the above examples are only for clearly illustrating the present invention and are not intended to limit the embodiments. Other similar configurations will be apparent to those skilled in the art in light of the foregoing description. It is neither necessary nor exhaustive here for all configurations. And variations and minor modifications obvious from the above are within the scope of the invention.