CN103997176A - Bearingless brushless direct-current motor and levitation force control method - Google Patents
Bearingless brushless direct-current motor and levitation force control method Download PDFInfo
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- CN103997176A CN103997176A CN201410223255.4A CN201410223255A CN103997176A CN 103997176 A CN103997176 A CN 103997176A CN 201410223255 A CN201410223255 A CN 201410223255A CN 103997176 A CN103997176 A CN 103997176A
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Abstract
The invention discloses a bearingless brushless direct-current motor and a levitation force control method. A motor levitation force winding is composed of a U1-V1-W1 winding system and a U2-V2-W2 winding system, the U1-V1-W1 winding system is composed of a U1 phase winding, a V1 phase winding and a W1 phase winding, the U2-V2-W2 winding system is composed of a U2 phase winding, a V2 phase winding and a W2 phase winding, each phase winding is formed by connecting two same coils in series, and the twelve coils are sequentially wound on twelve stator teeth in the anti-clockwise direction in the sequence of a coil U1, a coil U2, a coil W1, a coil W2, a coil V1, a coil V2, a coil U1, a coil U2, a coil W1, a coil W2, a coil V1 and a coil V2; only one set of winding system is in breakover at any time moment; once a rotor rotates one circle, an inverter of the levitation force winding is controlled to be connected or disconnected only twelve times, the on-and-off frequency of a switching device of the inverter is reduced, the requirement for the inverter is lowered, the complexity of a control system is reduced, and the working efficiency of the motor is improved.
Description
Technical field
The present invention relates to a kind of DC motor without bearing and brush, specifically DC motor without bearing and brush and suspending power control method, is applicable to the high performance control of DC motor without bearing and brush, belongs to the technical field of electric drive control.
Background technology
DC motor without bearing and brush is by a kind of New-type electric machine forming without bearing technology is applied to brshless DC motor, possesses the advantage without bearing technology and brshless DC motor, at blood pump, at a high speed/ultrahigh speed centrifuge, dentistry and operation be widely used with the biomedical sectors such as high speed utensil and flywheel energy storage new energy field simultaneously.DC motor without bearing and brush comprises stator, p-m rotor, suspending power winding and torque winding, in permanent-magnet stator groove, embed a set of suspending power winding, make suspending power winding and torque winding share stator core, under the control of electric machine control system, the magnetic field that suspending power winding and torque winding produce in p-m rotor, is realized suspension and the rotation of rotor by air gap acting in conjunction.
More and more higher to the requirement of electric machine control system performance in modern industry application, in order to improve the performance of motor, not only to improve motor body structure, also to adopt advanced control strategy to control motor.The suspending power control method of traditional DC motor without bearing and brush is conventionally according to the difference of the rotor angle detecting, correspondingly the single-phase suspending power winding of conducting produces rotor radial suspending power, although this control method can realize the stable suspersion of rotor, but its deficiency obviously existing is: rotor often rotates a circle, the inverter of controlling suspending power winding needs break-make 24 times, change the conducting state of suspending power winding loaded down with trivial detailsly, naturally improved the requirement to inverter, increase the complexity of control system, take the too much software systems clock cycle, and the suffered unitary current radial suspension force of rotor is little, make this traditional control method be difficult to meet the requirement of high performance control system.
Summary of the invention
In order further to improve the service behaviour of DC motor without bearing and brush, the present invention proposes a kind of suspending power control method of DC motor without bearing and brush, adopt the method generation rotor radial suspending power of suspending power winding three-phase conducting simultaneously to realize the stable suspersion of rotor, reduce the complexity of control system, increase rotor unitary current radial suspension force.
For achieving the above object, a kind of DC motor without bearing and brush of the present invention adopts following technical scheme: most external is columnar annular stator, in annular stator, coaxial sleeve has rotating shaft, the outer coaxial fixed cover cartridge rotor iron core of rotating shaft, multiple permanent magnets are uniformly distributed along the circumferential surface of rotor core with surface-mount type, the polarity of two adjacent permanent magnets is contrary, and on the inner surface of annular stator, along being uniformly distributed 12 stator tooths on circumference, torque winding and suspending power winding are all wrapped on stator tooth; Suspending power winding is made up of U1-V1-W1 and U2-V2-W2 double winding system, U1-V1-W1 winding system is made up of U1, V1, W1 tri-phase windings, U2-V2-W2 winding system is made up of U2, V2, W2 tri-phase windings, every phase winding is all connected in series and is formed by two identical coils, totally 12 coils, 12 coils are wound on 12 stator tooths in the counterclockwise direction successively by coil U1, U2, W1, W2, V1, V2, U1, U2, W1, W2, V1, V2 order.
The suspending power control method of DC motor without bearing and brush of the present invention adopts following technical scheme: it is conducting that there is and only has a set of winding any time, and in the time that U1-V1-W1 winding is conducting, coil U1, V1, W1 produce respectively suspending power
,
; In the time that U2-V2-W2 winding is conducting, coil U2, V2, W2 produce respectively suspending power
,
; The suspending power that any a set of winding produces while being conducting determines a plane jointly, produces the suspending power in plane.
Further, be rotated counterclockwise the rotor angle of generation when rotor core and rotating shaft
θbe between 15 ~ 45,75 ~ 105,135 ~ 165,195 ~ 225,255 ~ 285,315 ~ 345 time, U1-V1-W1 winding is conducting; Work as rotor angle
θbe between 0 ~ 15,45 ~ 75,105 ~ 135,165 ~ 195,225 ~ 255,285 ~ 315,345 ~ 360 time, U2-V2-W2 winding is conducting.
The invention has the advantages that:
1, the suspending power control method that adopts the present invention to propose, rotor often rotates a circle, the inverter of controlling suspending power winding only needs break-make 12 times, reduced significantly the on-off times of inverter switch device compared with traditional control method, reduce undoubtedly the requirement to inverter, reduced the complexity of control system.
2, the suspending power control method that the present invention proposes, there is the conducting simultaneously of three-phase suspending power winding any time, improve the utilance of suspending power winding, thereby improve the operating efficiency of DC motor without bearing and brush, and simplified driving control method, making can extensive use in the new energy fields such as biomedical sector and flywheel energy storage such as supercentrifuge, dentistry and operation high speed utensil without bearing brushless electric machine.
3,, in motor size, under the identical condition of suspending power winding current, compared with traditional control method, the present invention can increase rotor unitary current radial suspension force, has improved the performance index of DC motor without bearing and brush.
Brief description of the drawings
Fig. 1 is the structural representation of DC motor without bearing and brush of the present invention;
Fig. 2 is the direction schematic diagram of suspending power component when U1-V1-W1 winding is conducting in Fig. 1:
Fig. 3 is the direction schematic diagram of suspending power component when U2-V2-W2 winding is conducting in Fig. 1;
Fig. 4 is the control system block diagram of DC motor without bearing and brush;
Fig. 5 is suspending power coordinate transform schematic diagram when U1-V1-W1 winding system switches in Fig. 1;
Fig. 6 is suspending power coordinate transform schematic diagram when U2-V2-W2 winding system switches in Fig. 1;
In figure: 1. annular stator; 2. torque winding; 3. suspending power winding; 4. stator tooth; 5. permanent magnet; 6. rotor core; 7. rotating shaft; 31. pi regulators; 32,33. displacement PID adjusters; 34. torque winding current set-point computing modules; 35. suspending power winding current set-point computing modules; 36. torque current following-up type inverter modules; 37. suspending power current track inverter modules; 38. Hall elements; 39.
xaxially eddy current displacement sensor; 40.
yaxially eddy current displacement sensor.
Embodiment
DC motor without bearing and brush shown in Figure 1, comprises annular stator 1, torque winding 2, suspending power winding 3, stator tooth 4, permanent magnet 5, rotor core 6 and rotating shaft 7.Most external is annular stator 1, annular stator 1 is cylindrical shape, and the interior coaxial sleeve of annular stator 1 has rotating shaft 7, the outer coaxial fixed cover cartridge rotor iron core 6 of rotating shaft 7, multiple permanent magnets 5 are uniformly distributed along the circumferential surface of rotor core 6 with surface-mount type, and the polarity of two adjacent permanent magnets 5 is contrary.On the inner surface of annular stator 1, along being uniformly distributed 12 stator tooths 4 on circumference, torque winding 2 and suspending power winding 3 are all wrapped on stator tooth 12.
Torque winding 2 is made up of A, B, C tri-phase windings, adopt centralized winding, A phase winding is composed in series successively by loop A 1, A2, A3, A4, B phase winding is composed in series successively by coil B1, B2, B3, B4, C phase winding is composed in series successively by coil C1, C2, C3, C4, and torque winding 2 is wound on 12 stator tooths 4 in the counterclockwise direction successively by loop A 1, B1, C1, A2, B2, C2, A3, B3, C3, A4, B4, C4 order.
Suspending power winding (3) is made up of U1-V1-W1 and U2-V2-W2 double winding system, adopts centralized winding, and every cover winding is to be made up of three phase windings, and U1-V1-W1 winding is by U1, V1, W1 tri-phase winding compositions, U2-V2-W2 winding is by U2, V2, W2 tri-phase winding compositions, every phase winding is all connected in series and is formed by two identical coils, for example: U1 phase winding is connected in series and is formed by two identical coil U1, V1 phase winding is connected in series and is formed by two identical coil V1, W1 phase winding is connected in series and is formed by two identical coil W1, U2 phase winding is connected in series and is formed by two identical coil U2, V2 phase winding is connected in series and is formed by two identical coil V2, W2 phase winding is connected in series and is formed by two identical coil W2, therefore, have 12 coils, two identical coils in every phase winding are all symmetrically distributed on two symmetrical stator tooths 4 along the center of circle of annular stator 1, namely 12 coils are pressed to coil U1, U2, W1, W2, V1, V2, U1, U2, W1, W2, V1, V2 order is wound on 12 stator tooths 4 in the counterclockwise direction successively.
When machine operation, motor rotor core 6 and rotating shaft 7 are rotated counterclockwise, and produce rotor angle
θ,suspending power winding 3 conducting situations depend on rotor angle
θ, it is conducting that there is and only has a set of winding any time, in the time that this cover winding of U1-V1-W1 is conducting, coil U1, V1 and W1 produce respectively suspending power
with
; In the time that this cover winding of U2-V2-W2 is conducting, coil U2, V2 and W2 produce respectively suspending power
with
; Suspending power that any a set of winding produces while being conducting (
,
or
,
) jointly determine a plane, change the size of the electric current of corresponding suspending power winding system, can produce the controlled suspending power of size and Orientation in plane, thus supporting rotor stable suspersion.
Work as rotor angle
θbe between 15 ~ 45,75 ~ 105,135 ~ 165,195 ~ 225,255 ~ 285,315 ~ 345 time, U1-V1-W1 winding is conducting, produces the suspending power of u1, v1, w1 direction
,
, as shown in Figure 2; Work as rotor angle
θbe between 0 ~ 15,45 ~ 75,105 ~ 135,165 ~ 195,225 ~ 255,285 ~ 315,345 ~ 360 time, U2-V2-W2 winding is conducting, produces the suspending power of u2, v2, w2 direction
,
, its supporting rotor stable suspersion of making a concerted effort, as shown in Figure 3.
As shown in Figure 4, the control system that realizes DC motor without bearing and brush of the present invention be by pi regulator 31, displacement PID adjuster 32,33, torque winding current set-point computing module 34, suspending power winding current set-point computing module 35, torque winding current following-up type inverter 36, suspending power winding current following-up type inverter 37, Hall element 38,
xaxial eddy current displacement sensor 39,
yaxially eddy current displacement sensor 40 forms.Hall element 38 is put in one end in the rotating shaft 7 of DC motor without bearing and brush, in order to detection rotor angle
θthe output of Hall element 38 connects respectively the input of differential module 41, torque winding current set-point computing module 34 and suspending power given value of current value computing module 35 these three modules, and the rotor angle location signal of rotating shaft 7 is inputted respectively in these three modules that are attached thereto.
The input of suspending power winding current set-point computing module 35 connects respectively the output of displacement PID adjuster 32,33, the output of suspending power winding current set-point computing module 35 connects the input of suspension current track inverter 37, and the output of suspending power winding current following-up type inverter 37 connects the input of the suspending power winding 3 of DC motor without bearing and brush.
The input of torque winding current set-point computing module 34 connects the output of pi regulator 31, the output of torque winding current set-point computing module 34 connects the input of torque current following-up type inverter 36, and the output of torque winding current following-up type inverter 36 connects the input of the torque winding 2 of DC motor without bearing and brush.
Referring to Fig. 4, by motor given rotating speed
ω *with the actual speed obtaining
ωdifference obtain given value of current value through pi regulator 31
i *, by this given value of current value
i *transport to torque winding current set-point computing module 34.Export torque current set-point through torque winding current set-point computing module 34
, torque current set-point
, obtain the input current of the torque winding 2 of DC motor without bearing and brush through torque current following-up type inverter 36
.When DC motor without bearing and brush is realized to suspending power control, adopt the control system of Fig. 4, concrete steps are as follows:
1, adopt Hall element 38 to detect the rotor angle that obtains DC motor without bearing and brush
θ.
2, utilize
xaxially eddy current displacement sensor 39 detects the rotor of DC motor without bearing and brush
xactual displacement on direction of principal axis, by given
xreference displacement on direction of principal axis
x * with
xthe difference of the actual displacement on direction of principal axis calculates DC motor without bearing and brush rotor edge through displacement PID adjuster 32
xsuspending power set-point on direction of principal axis
; In like manner, utilize
yeddy current displacement sensor 40 on direction of principal axis detects the rotor of DC motor without bearing and brush
yactual displacement on direction of principal axis, by given
yreference displacement on direction of principal axis
y *with
ythe difference of the actual displacement on direction of principal axis calculates DC motor without bearing and brush rotor edge through displacement PID adjuster 33
ysuspending power set-point on direction of principal axis
.
3, will
xsuspending power set-point on direction of principal axis
,
ysuspending power set-point on direction of principal axis
and rotor angle
θtransport to suspending power winding current set-point computing module 35, work as rotor angle
θbetween being positioned at 15 ~ 45,75 ~ 105,135 ~ 165,195 ~ 225,255 ~ 285,315 ~ 345 time, U1-V1-W1 winding is conducting, in conjunction with Fig. 5, and first handle
x,
ysuspending power set-point on direction of principal axis
,
obtain along the suspending power set-point in u1, v1, w1 direction through 2/3 coordinate transform
, computing formula is as follows:
，
Above formula substitution power/current formula
i=
kFcan obtain:
，
Can obtain by above two formulas the given value of current value that U1-V1-W1 winding is fastened
.
Work as rotor angle
θbetween being positioned at 0 ~ 15,45 ~ 75,105 ~ 135,165 ~ 195,225 ~ 255,285 ~ 315,345 ~ 360 time, U2-V2-W2 winding is conducting, in conjunction with Fig. 6, and first handle
x,
ysuspending power set-point on direction of principal axis
,
first transform to coordinate system
x2,
ysuspending power set-point on 2 direction of principal axis
, wherein
x2,
y2 axles be by
x,
yaxle obtains by counterclockwise rotating 30, then
obtain along the suspending power set-point in u2, v2, w2 direction through 2/3 coordinate transform
, computing formula is as follows:
，
，
Above formula substitution power/current formula
i=
kFcan obtain:
，
Can obtain by above two formulas the given value of current value that U2-V2-W2 winding is fastened
.
In above-mentioned computing formula:
ifor suspending power electric current;
kfor power/current coefficient;
ffor suspending power set-point;
with
be respectively the suspending power given value of current value of coil U1, V1, W1 and U2, V2, W2;
with
respectively along the suspending power set-point in u1, v1, w1 and u2, v2, w2 direction;
,
be respectively
x,
ysuspending power set-point on direction of principal axis.
4, by suspending power given value of current value
or
obtain the input current of DC motor without bearing and brush three-phase suspending power winding through current track inverter 37
or
.
According to the above, just can realize the present invention.
Claims (7)
1. a DC motor without bearing and brush, most external is columnar annular stator (1), the interior coaxial sleeve of annular stator (1) has rotating shaft (7), the outer coaxial fixed cover cartridge rotor iron core (6) of rotating shaft (7), multiple permanent magnets (5) are uniformly distributed along the circumferential surface of rotor core (6) with surface-mount type, the polarity of adjacent two permanent magnets (5) is contrary, it is characterized in that: on the inner surface of annular stator (1), along being uniformly distributed 12 stator tooths (4) on circumference, torque winding (2) and suspending power winding (3) are all wrapped on stator tooth (12); Suspending power winding (3) is made up of U1-V1-W1 and U2-V2-W2 double winding system, U1-V1-W1 winding system is made up of U1, V1, W1 tri-phase windings, U2-V2-W2 winding system is made up of U2, V2, W2 tri-phase windings, every phase winding is all connected in series and is formed by two identical coils, totally 12 coils, 12 coils are wound on 12 stator tooths (4) in the counterclockwise direction successively by coil U1, U2, W1, W2, V1, V2, U1, U2, W1, W2, V1, V2 order.
2. DC motor without bearing and brush according to claim 1, it is characterized in that: torque winding (2) is made up of A, B, C tri-phase windings, A phase winding is composed in series successively by loop A 1, A2, A3, A4, B phase winding is composed in series successively by coil B1, B2, B3, B4, C phase winding is composed in series successively by coil C1, C2, C3, C4, is wound in successively in the counterclockwise direction on 12 stator tooths (4) by loop A 1, B1, C1, A2, B2, C2, A3, B3, C3, A4, B4, C4 order.
3. a suspending power control method for DC motor without bearing and brush as claimed in claim 1, is characterized in that: it is conducting that there is and only has a set of winding any time, in the time that U1-V1-W1 winding is conducting, coil U1, V1, W1 produce respectively suspending power
,
; In the time that U2-V2-W2 winding is conducting, coil U2, V2, W2 produce respectively suspending power
,
; The suspending power that any a set of winding produces while being conducting determines a plane jointly, produces the suspending power in plane.
4. suspending power control method according to claim 3, is characterized in that: when rotor core (6) and rotating shaft (7) are rotated counterclockwise the rotor angle of generation
θbe between 15 ~ 45,75 ~ 105,135 ~ 165,195 ~ 225,255 ~ 285,315 ~ 345 time, U1-V1-W1 winding is conducting; Work as rotor angle
θbe between 0 ~ 15,45 ~ 75,105 ~ 135,165 ~ 195,225 ~ 255,285 ~ 315,345 ~ 360 time, U2-V2-W2 winding is conducting.
5. suspending power control method according to claim 4, is characterized in that: settle Hall element (38) with detection rotor angle in rotating shaft (7) one end
θ, the output of Hall element (38) is connected respectively to differential module (41), suspending power given value of current value computing module (35) and torque winding current set-point computing module (34); The input of suspending power given value of current value computing module (35) is connected respectively to PID adjuster (32,33), and output is connected to suspending power current track inverter (37) successively; The input of torque winding current set-point computing module (34) is connected to pi regulator (31), and output is connected to torque flow following-up type inverter (36) successively; At rotor radial
xwith
yaxially, place respectively
xaxially,
yaxially eddy current displacement sensor (39,40) is to detect
x,
yactual displacement axially, respectively with given displacement
x *with
y *after comparing, obtain
xwith
yoffset deviation on direction of principal axis, this offset deviation generates through corresponding displacement PID adjuster
xwith
ysuspending power set-point on direction of principal axis
with
; By suspending power set-point
with
and rotor angle
θtransport to suspending power winding current set-point computing module (35), according to rotor angle
θdifference, the corresponding winding of conducting system.
6. suspending power control method according to claim 5, is characterized in that: work as rotor angle
θbetween being positioned at 15 ~ 45,75 ~ 105,135 ~ 165,195 ~ 225,255 ~ 285,315 ~ 345 time, will
xsuspending power set-point on direction of principal axis
,
ysuspending power set-point on direction of principal axis
and rotor angle
θtransport to suspending power winding current set-point computing module (35), will
x,
ysuspending power set-point on direction of principal axis
,
obtain along the suspending power set-point in u1, v1, w1 direction through 2/3 coordinate transform
, then calculate the given value of current value that U1-V1-W1 winding is fastened
; Work as rotor angle
θbetween being positioned at 0 ~ 15,45 ~ 75,105 ~ 135,165 ~ 195,225 ~ 255,285 ~ 315,345 ~ 360 time, will
x,
ysuspending power set-point on direction of principal axis
,
first transform to coordinate system
x2,
ysuspending power set-point on 2 direction of principal axis
,
x2,
y2 axles be by
x,
yaxle obtains by counterclockwise rotating 30, then will
obtain along the suspending power set-point in u2, v2, w2 direction through 2/3 coordinate transform
, then calculate the given value of current value that suspending power winding U2-V2-W2 winding is fastened
; Then by suspending power winding current set-point
or
obtain the input current of three-phase suspending power winding through suspending power current track inverter (37)
or
, finally flow to suspending power winding (3) and produce suspending power.
7. suspending power control method according to claim 3, is characterized in that: change the size of current of suspending power winding (3), produce the controlled suspending power of size and Orientation in plane.
Priority Applications (1)
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|---|---|---|---|
| CN201410223255.4A CN103997176B (en) | 2014-05-26 | 2014-05-26 | A kind of DC motor without bearing and brush and suspending power control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410223255.4A CN103997176B (en) | 2014-05-26 | 2014-05-26 | A kind of DC motor without bearing and brush and suspending power control method |
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| Publication Number | Publication Date |
|---|---|
| CN103997176A true CN103997176A (en) | 2014-08-20 |
| CN103997176B CN103997176B (en) | 2016-08-31 |
Family
ID=51311221
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|---|---|---|---|
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Cited By (9)
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| CN105827159A (en) * | 2016-05-13 | 2016-08-03 | 福州大学 | Method for rotor suspension control of three-phase bearing-free flux switching motor |
| CN106026828A (en) * | 2016-05-23 | 2016-10-12 | 江苏理工学院 | Volume kalman filter-based radial magnetic bearing displacement detection method and system |
| CN107070073A (en) * | 2017-03-29 | 2017-08-18 | 江苏大学 | A kind of magnetic suspending flying wheel battery |
| CN107968540A (en) * | 2017-12-27 | 2018-04-27 | 北京信息科技大学 | Magnetic suspension brshless DC motor axial displacement and rotor-position integrated sensor |
| CN108258828A (en) * | 2018-03-14 | 2018-07-06 | 广州大学 | A kind of interior drive-type spherical shape tire and its driving method |
| CN108288926A (en) * | 2018-03-30 | 2018-07-17 | 张冰青 | Magnetic suspension motor |
| CN110336435A (en) * | 2019-06-23 | 2019-10-15 | 大国重器自动化设备(山东)股份有限公司 | A kind of Intelligent servo motor and robot |
| CN111712996A (en) * | 2018-02-12 | 2020-09-25 | Lg电子株式会社 | Motor drive device for reducing load on rotating shaft |
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| CN105827159A (en) * | 2016-05-13 | 2016-08-03 | 福州大学 | Method for rotor suspension control of three-phase bearing-free flux switching motor |
| CN105827159B (en) * | 2016-05-13 | 2018-12-25 | 福州大学 | A kind of three-phase bearing-free flux switch motor rotor suspension control method |
| CN106026828A (en) * | 2016-05-23 | 2016-10-12 | 江苏理工学院 | Volume kalman filter-based radial magnetic bearing displacement detection method and system |
| CN106026828B (en) * | 2016-05-23 | 2018-09-28 | 江苏理工学院 | The construction method of radial direction magnetic bearing displacement detecting continuous time system |
| CN107070073A (en) * | 2017-03-29 | 2017-08-18 | 江苏大学 | A kind of magnetic suspending flying wheel battery |
| CN107968540A (en) * | 2017-12-27 | 2018-04-27 | 北京信息科技大学 | Magnetic suspension brshless DC motor axial displacement and rotor-position integrated sensor |
| CN111712996A (en) * | 2018-02-12 | 2020-09-25 | Lg电子株式会社 | Motor drive device for reducing load on rotating shaft |
| CN111712996B (en) * | 2018-02-12 | 2022-07-29 | Lg电子株式会社 | Motor drive device for reducing load on rotating shaft |
| US11398784B2 (en) | 2018-02-12 | 2022-07-26 | Lg Electronics Inc. | Motor driving device for reducing load on rotating shaft |
| CN108258828A (en) * | 2018-03-14 | 2018-07-06 | 广州大学 | A kind of interior drive-type spherical shape tire and its driving method |
| CN108258828B (en) * | 2018-03-14 | 2023-11-24 | 广州大学 | Internally driven spherical tire and driving method thereof |
| CN108288926A (en) * | 2018-03-30 | 2018-07-17 | 张冰青 | Magnetic suspension motor |
| CN110336435A (en) * | 2019-06-23 | 2019-10-15 | 大国重器自动化设备(山东)股份有限公司 | A kind of Intelligent servo motor and robot |
| CN110336435B (en) * | 2019-06-23 | 2024-04-19 | 大国重器自动化设备(山东)股份有限公司 | Intelligent servo motor and robot |
| CN112511055A (en) * | 2020-10-21 | 2021-03-16 | 南京航空航天大学 | Method for reducing suspension force pulsation of concentrated winding bearingless alternating pole motor |
| CN112511055B (en) * | 2020-10-21 | 2022-02-22 | 南京航空航天大学 | Method for reducing suspension force pulsation of concentrated winding bearingless alternating pole motor |
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