The Planetary Motor Design and control of a novel multi-rotor structure
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1 Design and control of a novel multi-rotor structure Manfred Schrödl Andreas Brunner Institute of Energy Systems and Electrical Drives Technische Universität Wien A3PS Nov. 2017
2 Contents Deriving the topology of the Planetary Motor Electrical equivalent circuit Functional prototype Control strategy Sensorless INFORM method Applications Future work A3PS
3 3-phase motor 3 single coils 2-pole PM rotor A3PS
4 A3PS
5 Arrange 4 equivalent motors symmetrically A3PS
6 Combine into single structure A3PS
7 Combine into single structure A3PS
8 Areas of zero net flux A3PS
9 Areas of zero net flux A3PS
10 Rotors turn in opposite directions A3PS
11 Rotors turn in opposite directions A3PS
12 After 90deg: same areas with zero net flux A3PS
13 Omit magnetically inactive parts: A3PS
14 Corners are also magnetically inactive A3PS
15 Corners are also magnetically inactive A3PS
16 Corners are also magnetically inactive A3PS
17 Corners are also magnetically inactive A3PS
18 Omit magnetically inactive parts: Reduced Active mass Motor volume Iron losses Same power as 4 combined single motors A3PS
19 Combine coils A3PS
20 Combine coils A3PS
21 Combine coils: 12 coils 6 coils A3PS
22 Integrated gear: sun gear A3PS
23 Integrated gear: ring gear A3PS
24 Integrated gear A3PS
25 Integrated planetary gear Sun gear and ring gear rotate at same speed mechanical link for combined output power A3PS
26 Integrated planetary gear One point of contact for each gear (instead of two) Gear ratios typ. 10: A3PS
27 A3PS
28 Conventional motor + spur gear R gear ratio v circumferential speed A3PS
29 Integrated Planetary gear R gear ratio v circumferential speed A3PS
30 Electrical Circuit A3PS
31 Electrical Circuit Original Circuit: A3PS
32 Electrical Circuit A3PS
33 Electrical Circuit Reduced Circuit: 3-phase inverter Star or delta connection A3PS
34 Functional Prototype A3PS
35 Functional Prototype 4 rotors and 3-phase stator winding 6 concentrated coils Gear ratio 10:1 Sensorless control (INFORM / EMF) Connection of all coils on the rear side of the motor Simple assembly A3PS
36 Functional Prototype Terminal voltages at 200rpm on output shaft: A3PS
37 Control Strategy A3PS
38 Control Strategy High-speed range (> 10% rated speed): EMF-method Based on induced voltage State of the art Low-speed range and standstill: INFORM method Based on inductance differences Already used in series applications WM
39 INFORM Method / INFORM-error: mean 0.65deg Standard deviation 6.01deg (electrical) A3PS
40 Applications Electric vehicle axle drive Integrated gear box Hollow central motor shaft differential drive Wheel-hub motor Low speed / high torque Wind power PLANETARY MOTOR with differential gear D (housing T, bevel wheels K1, K2), functionally combined with sun wheel Z1. Planets P1, P3 (shown without connected rotors of the electrical part). Half axes A1, A2, connected to driving wheels A3PS
41 Future Work 4-pole rotors 12 coils A3PS
42 Future Work 6 rotors (series connection of 3 elements) A3PS
43 Conclusion 1 rotor 4 rotors: half circumferential speed at same power Integrated transmission Low speed / high torque applications Simple assembly Concentrated coils Integrated coil connections and power electronics on rear side possible Standard 3-phase inverters Sensorless control A3PS
44 Thank you for your attention TU Wien offers cooperation Please contact us!
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