U.S. patent number 3,566,224 [Application Number 04/830,564] was granted by the patent office on 1971-02-23 for linear electromagnetic motor.
This patent grant is currently assigned to Fiat Societa per Azioni, Turin, IT. Invention is credited to Luciano Parodi, Maurizio Vallauri.
United States Patent |
3,566,224 |
|
February 23, 1971 |
LINEAR ELECTROMAGNETIC MOTOR
Abstract
A linear electromagnetic motor having a plurality of similar
annular, coaxial and uniformly spaced coils or electromagnets, an
elongated core of ferromagnetic material coaxially arranged with
said coils, and a plurality of similar, annular projections,
equally spaced along the core. The length L of the coil row is
related to the pitch of the coils P and to the pitch of the
projections p by the following equations: L=np L=(n .+-.1)P, the
length of the row of coils being greater than that of the row of
projections.
Inventors: |
Maurizio Vallauri (Turin,
IT), Luciano Parodi (Turin, IT) |
Assignee: |
Fiat Societa per Azioni, Turin,
IT (N/A)
|
Family
ID: |
11193453 |
Appl.
No.: |
04/830,564 |
Filed: |
May 8, 1969 |
Foreign Application Priority Data
|
|
|
|
|
Oct 9, 1964 [IT] |
|
|
26409/64 |
|
Current U.S.
Class: |
318/135;
310/14 |
Current CPC
Class: |
G21C
7/12 (20130101); H02K 41/03 (20130101); Y02E
30/30 (20130101); Y02E 30/39 (20130101) |
Current International
Class: |
G21C
7/12 (20060101); G21C 7/08 (20060101); H02K
41/03 (20060101); H02k 041/02 () |
Field of
Search: |
;310/12--14
;318/135 |
References Cited
[Referenced By]
U.S. Patent Documents
Primary Examiner: Donovan F. Duggan
Attorney, Agent or Firm: Sughrue, Rothwell, Mion, Zinn and
MacPeak
Parent Case Text
CROSS REFERENCE TO RELATED APPLICATION
This application is a continuation-in-part of our prior application
Ser. No. 492,663, filed Oct. 4, 1965, now abandoned which in turn
claims priority from our Italian application filed Oct. 9, 1964.
Claims
1. In a linear electromagnetic motor for operating a driven member
within a sealed vessel of the type including a stationary portion
having a supporting casing adapted to be tightly secured to the
sealed vessel and a plurality of similar, selectively energizable
electromagnets secured to the supporting casing, said
electromagnets being equally spaced and extending along the axis of
the casing so that the centers of the electromagnets are spaced by
a constant pitch P, and a movable portion adapted to be connected
to said driven member and having an elongated core of ferromagnetic
material coaxially movable within the supporting casing, said core
having a plurality of similar annular projections equally spaced so
that the centers of the annular projections are spaced by a
constant pitch p, wherein said projections and said electromagnets
face each other over an axial section of the supporting casing
along a length L wherein the length L is related to the pitch p of
the projections and to the pitch P of the electromagnets according
to a predetermined vernier scale ratio, the improvement comprising:
a. said projections on the movable portion extending over only a
length equal to length L; and b. said electromagnets extending over
a length greater than the length L by
2. In a linear electromagnetic motor as defined in claim 1, wherein
the portion of said core having said projections is defined as the
toothed portion, and said motor further includes switching means
for selectively energizing said electromagnets, the further
improvement wherein said switching means comprises: a. means for
simultaneously energizing m contiguous electromagnets of the n
electromagnets which face said toothed portion, the end ones of
said n electromagnets also being considered as contiguous; b. means
for energizing one of the nonenergized electromagnets which are
contiguous to the m energized electromagnets while simultaneously
deenergizing the energized electromagnet contiguous to the other
one of said nonenergized electromagnets, whereby after a switching
operation m contiguous electromagnets are still energized; and c.
means, after energization of an electromagnet k facing the last
projection of said toothed portion, for either energizing the
electromagnet which is successively arranged in the direction in
which said switching operation occurs or energizing the
electromagnet preceding electromagnet k by n - 1 positions in said
direction, whereby the energized electromagnets always face said
toothed portion.
Description
The invention relates to vernier-type linear electromagnetic
motors, which may be employed for example for remotely controlling
axial movements of members movable within sealed vessels, such as
control rods of nuclear reactors.
U.S. Pat. No. 3,162,796 to Schreiber et al. discloses a
vernier-type linear electromagnetic motor for moving a rod
structure within a sealed vessel of the type including a stationary
portion having a stationary supporting casing adapted to be tightly
secured to the sealed vessel and a plurality of similar,
selectively energizable electromagnets or coils secured to the
supporting casing, the electromagnets or coils being equally spaced
and extending along the axis of the casing so that the centers of
the electromagnets or coils are spaced by a constant pitch, and a
movable portion adapted to be connected to said driven member and
having an elongated core of ferromagnetic material coaxially
movable within the supporting casing, the core having a plurality
of similar annular projections or teeth equally spaced so that the
centers of the annular projections are spaced by a constant pitch,
different from the spacing pitch of the electromagnets, wherein the
projections and the electromagnets face each other over an axial
section of the supporting casing along a given length wherein said
given length is related to the pitch of the projections and to the
pitch of the electromagnets according to a predetermined vernier
scale ration. In this known structure, the toothed length of the
elongated movable core is greater than the length over which extend
the electromagnets secured to the stationary supporting casing.
U.S. Pat. No. 3,219,853 to Schreiber shows a similar linear motor
wherein, in addition to the above-mentioned feature, several coil
groups are used, thereby obtaining a tandem arrangement of a number
of motors with a short coil group mounted with correspondingly
energized coils in order to multiply the useful force.
Both these known arrangements suffer the drawback that the weight
of the movable core increases when its stroke is increased.
The object of this invention is to provide an improved linear motor
which is free of the above-mentioned prior art deficiency, and in
accordance with this object, the motor includes a stationary
portion having a supporting casing adapted to be tightly secured to
the sealed vessel; a plurality of similar, selectively energizable
electromagnets secured to the supporting casing, said
electromagnets being equally spaced and extending along the axis of
the casing so that the centers of the electromagnets are spaced by
a constant pitch P; and a movable portion adapted to be connected
to said driven member and having an elongated core of ferromagnetic
material coaxially movable within the supporting casing, said core
having a plurality of similar annular projections or teeth equally
spaced so that the center of the annular projections or teeth are
spaced by a constant pitch p, wherein said projections and said
electromagnets face each other over an axial section of the
supporting casing along a length L, wherein the length L is related
to the pitch p of the projections and to the pitch P of the
electromagnets according to a predetermined vernier scale ratio,
and wherein the projections on the movable portion extend over only
a length equal to length L, and the electromagnets extend over a
length greater than the length L by an extent equaling the stroke
over which the movable portion travels.
The advantages of the present invention in which the improved motor
has a movable core provided with annular projections extending over
a distance which is shorter than the elongated coil group with
respect to known motors having a long movable core provided with
annular projections which extend over a distance greater than the
shorter coil group are as follows:
The weight of a short movable core provided with annular
projections is lower than the weight of a long core, the useful
lifting power and stroke length being the same.
The weight of the long core increases when longer strokes are
required, whereas the weight of the short core provided with
annular projections remains unaltered in accordance with the
invention.
A motor having a short movable core provided with annular
projections has a smaller length of the section L and requires less
power with respect to the motors having a long movable core
provided with annular projections, both during the operation and
the rest condition, the lifting power and the outer diameter of
their electromagnets being the same.
The above-mentioned advantages are highly significant for a number
of nuclear applications, inasmuch as they are critical from the
standpoint of the possibility of employing the motors in question
in nuclear reactors.
FIG. 1 is a diagrammatical axial sectional view of a linear
electromagnetic motor of the known type used in connection with a
nuclear reactor;
FIG. 2 is an enlarged sectional view on line II-II of FIG. 1;
FIG. 3 is similar to FIG. 2 and shows an electromagnetic motor
according to this invention;
FIG. 4 is a diagram showing the switching cycle of the coils or
electromagnets of the motor shown in FIG. 2;
FIG. 5 is a diagram showing the switching cycle of the coils or
electromagnets of the motor shown in FIG. 3;
FIG. 6 is a perspective view of an embodiment of the switchover
means adapted to realize the switching cycle shown in FIG. 4;
and
FIG. 7 is a perspective view of a modified form of the switchover
means adapted to realize the switching cycle shown in FIG. 5.
Referring to the prior art motor illustrated in FIGS. 1 and 2, 1
denotes a sealed vessel of a nuclear reactor provided with control
rods (not shown), vertically movable in channels in the reactor
core, in the vessel 1.
The movements of each control rod into and out of its channel is
effected by means of a rod 2 remotely operated by means of an
electromagnetic motor 3 comprising a stationary portion fixed to
the vessel 1 and a movable portion fixed to the rod 2.
The stationary portion of the motor 3 comprises a vertical
supporting casing 4 tightly secured to the vessel 1 by means of a
sleeve 5 and a plurality of similar annular coils or electromagnets
6 coaxially secured to the outside of the casing 4. The coils 6 are
uniformly spaced along the axis of the casing 4 so that the centers
of the coils are spaced by a constant pitch P. The coils 6 are
denoted in FIG. 2 by progressive Roman numerals, starting from the
topmost coil which is denoted by I.
The movable portion of the motor comprises an elongated
ferromagnetic core 7 coaxially movable within the supporting casing
4 and having a plurality of axially spaced similar annular
projections or teeth 8, so that the centers of the projections are
spaced by a constant pitch p.
The magnetic core 7 is secured to the end of the rod 2 to be
operated by means of a coupling 9 of known type shown in FIG. 1.
This coupling may take one of many known forms for interconnecting
a driving and driven member. For instance, it may be a fixed
connection or a connection of the Cardan type.
The part of the core 7 provided with the projections 8 and the part
of the stationary portion provided with the coils 6 face each other
over an axial section of the casing 4 of a length L.
As shown in FIG. 2, the length L equals 11 times the pitch p of the
projections 8 and 12 times the pitch P of the coils 6.
The axial length of the part of the core 7 carrying the projections
8 is greater than the length L of the section over which this core
portion and the part of the stationary portion carrying the coils 6
face each other. More specifically, the axial length of the part of
the core carrying the projections equals the length L increased by
the stroke length c of the movable portion with respect to the
stationary portion.
If n is the integer which is the number of projections 8 within the
length L, then the length L of the axial section of the casing 4
along which the part of the movable portion provided with the
projections and the part of the stationary portion provided with
the coils face each other is bound to the pitch p of the
projections and the pitch P of the coils by the following
relations:
L = np;
L = (n + 1)P
This provides a vernier structure. It will be understood that n is
an integer greater than 1.
Referring to FIG. 2, wherein the number n equals 11, supply of
direct electric current to each of the n + 1 coils facing the n
projections yields a magnetic force to the coils 6 which is:
upwardly directed and steadily increasing in respect of coils from
1 to (n + 1)/4 (coils I to III); upwardly directed and gradually
decreasing in respect of coils from [(n + 1)/4 + 1] to (n + 1)/ 2
(coils IV to VI); downwardly directed and steadily increasing in
respect of coils [(n + 1 )/2 + 1 ] to 3(n + 2)/4 (coils VII to IX);
downwardly directed and gradually decreasing in respect of coils
[3(n + 1)/4 + 1 ] to n + 1 (coils from X to XII).
The coils developing a maximum force are: (n + 1)/4 and [(n + 1)/4
+ 1] (coil III and IV) in an upward direction; 3(n + 1)/4 and [3(n
+ 1)/4 + 11](coil IX and X) in a downward direction.
For reasons of symmetry the maximum forces in an upward and
downward direction, respectively, are the same.
By simultaneously supplying 5 the n + 1 coils the same current, the
magnetic force acting on the core 7 is nil with all configurations
where the transverse plane extending through the center of any
projections 8 coincides with a transverse plane extending through
the center of a coil 6 or with the middle transverse plane between
two consecutive coils; at the intermediate positions the force is
small.
In order to supply to the magnetic core 7 a magnetic force of
maximum strength, a number m of contiguous coils only should be
energized among the n + 1 coils.
Referring to FIG. 2, the above condition is met when m = (n + 1)/2,
that is when m = 6.
Under the above conditions the core 7 biased by the magnetic force
and applied load resulting from the weight of the control rod,
weight of the rod 2 and the core's own weight, automatically takes
a balanced position.
With a magnetic force exceeding the load, the core moves to vary
the magnetic resistance or reluctance of the magnetic circuit till
the energized coils induce in the core a magnetic force which is
equal and contrary to the load.
Assuming for instance the load is nil, that is, the weight of the
control rod, rod 2 and core is nil, the core 7 takes a position
such that the projections 8 occupy one of the symmetrical
configurations with respect to the six energized contiguous coils,
so that the total reluctance is lowest.
In the embodiment shown in FIG. 2 one of the said balanced
configurations when the applied load is nil is the configuration
wherein the coils I, II, III, X, XI and XII are energized.
Where the applied load equals the maximum magnetic force which may
be supplied by the coils to the core, the latter moves into a
position in which the projections 8 on the core 7 assume with
respect to the first energized coil and last nonenergized coil a
symmetrical configuration, wherein the total reluctance is
highest.
In the embodiment shown in FIG. 2, a balanced configuration with a
downwardly applied load of a strength equaling the maximum magnetic
force that can be supplied to the core is a configuration wherein
the coils I, II, III, IV, V, VI are energized, this configuration
representing the condition under which the core is movable in a
downward direction without being retained by the magnetic
field.
Where the load applied to the core is lower than the maximum
magnetic force that can be supplied to the core, the balanced
configuration is intermediate the two above described
configurations. In the specific embodiment of FIG. 2 balanced
configurations in respect of certain increasing values of the
applied load are the configurations wherein the coils XI, XII, I,
II, III, IV or XII, I, II, III, IV, V are energized.
The core moves by consecutive steps equaling in height L/(n + 1)n,
the switching over in the proper sequence the direct current
feeding the coils being accomplished by means of a switchover means
of the type shown in FIG. 6 and described below in detail.
Since the possible balanced configurations with which m contiguous
coils are supplied is n + 1, switching over from each of them to
the next one is effected by feeding the first nonenergized coil and
disenergizing the first fed coil, considered in their order in a
direction opposite the one in which the core 7 should be
displaced.
FIG. 4 shows a switching diagram for the motor shown in FIGS. 1 and
2.
Referring to FIG. 4, the switching steps are given on the vertical
axis of the ordinates and the coil order is given on the horizontal
axis of the abscissae.
Each switching over moves the core 7 by one step; since the length
of the core 7 equals the length L increased by the stroke length c,
the core moves over the whole stroke length c while it is in every
position opposite the coils 6 over a length equaling L.
The number of steps required for a stroke of a length c to be
accomplished is:
c 33 n(n + 1)/L
On each switching over, an increment in magnetic force is applied
to the core in the desired direction and is annulled when the core
has taken its position wherein the magnetic force equals the
applied length.
After n + 1 switching over operations, grouped by T in FIG. 4, a
full cycle of the magnetic configurations is performed in which the
core is moved by a pitch p equaling L/n.
Referring to FIG. 2, by changing, by way of example, from the
condition in which coils XI, XII, I, II, III and IV are energized
to the condition in which the coils XII, I, II, III, IV and V are
energized, the core performs an upward movement over a length equal
to L/11 .times. 12 and takes with respect to the energized coils
XII, I, II, III, IV and V the same configuration it had before
switching over with respect to the coils XI, XII, I, II, III,
IV.
FIG. 3 is a detail view of an embodiment of the motor modified with
respect to FIG. 2. As shown in FIG. 3, wherein similar reference
numerals and letters denote parts common to the motor shown in FIG.
2, the modification comprises making the part of the core 7
carrying the projections 8 equal to L, while the part of the
stationary portion carrying the coils 6 is made equal to L + c.
The diagram of the switching-over operations in respect of the
motor shown in FIG. 3 is shown in FIG. 5 in which the switchover
steps are given on the vertical axis of the ordinates and the coil
order is given on the horizontal axis.
Referring to FIG. 5, in order to change, by way of example, from
the switchover step denoted by 1, at which the coils I, II, III,
IV, XI and XII are simultaneously energized, to the next step
denoted by 2, switching over should be effected in such manner as
to energize in addition to coils I, II, III, and IV also coil V and
disenergize coil XI.
It is to be understood the embodiments and constructional details
can be varied without departing from the scope of this invention as
defined in the appended claims. So, for instance, the number of
coils 6 facing over the axial section L of the casing 4 the
projections 8 of the magnetic core 7, can equal n - 1, n being the
number of projections within the length L, n being greater than
2.
The switchover device shown in FIG. 6 comprises a rotary motor 10,
a set of cams 11 rigidly secured to the grooved shaft 12 of the
motor 10, a plurality of switches 13 installed along a generatrix
of the cams 11, the stationary contacts of which are opened and
closed by the action of the cams on the respective movable
contacts. The cams 11 maintain closed during 180.degree. and open
during the following 180.degree. the stationary contacts of the
switch associated with each of the coils or electromagnets 6. The
rotation of the motor 10 and cams 11 effects switching of the
current at the windings or electromagnets of the motor according to
the FIGS. 1 and 2 and according to the switching cycle shown in
FIG. 4.
The device shown in FIG. 7 comprises a rotary motor 14 rotating the
grooved shaft 15, a stationary screw 16, a set of cams 17 fast with
each other and splined on the side of the grooved shaft 15 and
coupled by means of a nut and screw on the side of the screw 16, a
plurality of switches 18 installed on a generatrix of the cams,
stationary contacts of the said switches being opened and closed by
the action of the cams 17 on the respective movable contacts. The
cams maintain closed over 180.degree. and open during the following
180.degree., the stationary contacts of the switches associated
with each of the motor windings or electromagnets 6 of the motor
shown in FIG. 3.
Rotation of the motor 14 effects through the splined coupling and
nut and screw 16, the spiral movement of the set of cams 17 which
are axially displaced on each turn by a pitch of the screw
equivalent to the position occupied by one of the switches 18.
Consequently, the current in the motor windings 6 in FIG. 3 is
switched according to the switching cycle shown in FIG. 5.
* * * * *