Bosch Rexroth INDRAMAT motor Germany Bosch Rexroth INDRAMAT model Bosch Rexroth INDRAMAT price

Bosch Rexroth INDRAMAT motors are permanent magnet motors commutated or controlled by current via electronic circuits. Permanent magnet brushless motors come in two types: sine wave drive and square wave drive. Those with rectangular wave drive current are commonly called permanent magnet brushless DC motors, while those with sine wave drive current are commonly called permanent magnet AC servo motors. Based on sensor type, they can be classified into sensor-equipped motors and sensorless motors.

Bosch Rexroth INDRAMAT motor applications

The motor rotor has many small teeth evenly distributed. The stator teeth have three excitation windings, whose geometric axes are sequentially offset from the rotor tooth axes. 0, 1/3 te, 2/3 te (the distance between the axes of two adjacent rotor teeth is the tooth pitch, denoted by te), i.e., A is aligned with tooth 1, B is offset to the right from tooth 2 by 1/3 te, C is offset to the right from tooth 3 by 2/3 te, A' is aligned with tooth 5. Rotation: If phase A is energized while phases B and C are de-energized, due to the magnetic field, tooth 1 aligns with A (the rotor is not subjected to any force; the same applies below). If phase B is energized while phases A and C are de-energized, tooth 2 should align with B. At this point, the rotor shifts to the right by 1/3 te, tooth 3 is offset from C by 1/3 te, and tooth 4 is offset from A by (te - 1/3 te) = 2/3 te. If phase C is energized while phases A and B are de-energized, tooth 3 should align with C. At this point, the rotor shifts further to the right by 1/3 te, and tooth 4 is offset from A by 1/3 te. If phase A is energized while phases B and C are de-energized, tooth 4 aligns with A, and the rotor shifts further to the right by 1/3 te. Thus, after the energization states of A, B, C, and A, tooth 4 (i.e., the tooth preceding tooth 1) moves to phase A, and the motor rotor rotates one tooth pitch to the right. If energization continues in the sequence A, B, C, A..., the motor rotates to the right by 1/3 te per step (per pulse). If energized in the sequence A, C, B, A..., the motor reverses. It can be seen that the motor's position and speed have a one-to-one correspondence with the number of conduction cycles (pulse count) and frequency. The direction is determined by the conduction sequence. However, considering torque, smoothness, noise, and angle reduction, the conduction state A-AB-B-BC – C-CA-A is often adopted. This changes the original step size from 1/3 te to 1/6 te. Even by combining two-phase currents differently, 1/3 te can be changed to 1/12 te and 1/24 te. This is the basic theoretical basis for microstepping drive. It is not difficult to deduce that if the motor stator has m phase excitation windings, their axes are offset from the rotor tooth axes by 1/m, 2/m... (m-1)/m, 1. Furthermore, if conduction follows a specific phase sequence, the motor can be controlled to rotate forward or reverse—this is the physical condition for rotation. As long as this condition is met, we can theoretically manufacture stepper motors with any number of phases. Due to cost and other considerations, two-, three-, four-, and five-phase motors are most common in the market. Torque: Once the motor is energized, a magnetic field (magnetic flux Ф) is generated between the stator and rotor. When the rotor and stator are offset by a certain angle, a force F is produced, which is proportional to (dФ/dθ). S Its magnetic flux Ф=Br*S. Br is the magnetic flux density, and S is the magnetic conduction area. F is proportional to L*D*Br. L is the effective length of the iron core, and D is the rotor diameter. Br=N·I/R. N·I is the ampere-turns of the excitation winding (current multiplied by turns), and R is the magnetic reluctance. Torque = Force * Radius. Torque is proportional to the motor's effective volume * ampere-turns * magnetic flux density (considering only the linear state). Therefore, the larger the motor's effective volume, the greater the excitation ampere-turns, and the smaller the air gap between the stator and rotor, the greater the motor torque, and vice versa.

Bosch Rexroth INDRAMAT motor advantages

The motor's magnetic field is generated by permanent magnets, thereby avoiding excitation losses (i.e., copper losses) caused by generating the magnetic field through excitation current. The rotor operates without current, significantly reducing the motor temperature rise; under the same load conditions, the temperature rise is more than 20K lower. Permanent magnet synchronous motors have a high power factor, which is independent of the number of motor poles. At full load, the power factor approaches 1, resulting in lower motor current compared to asynchronous motors, correspondingly lower stator copper losses, and higher efficiency. In contrast, the power factor of asynchronous motors decreases as the number of motor poles increases. Furthermore, due to the high power factor of permanent magnet synchronous motors, the capacity of the associated power supply (transformer) can theoretically be reduced, along with the specifications of associated switchgear and cables. Permanent magnet synchronous motors also offer advantages such as high starting torque, short starting time, and high overload capability. The installed capacity of the equipment drive motor can be reduced based on the actual shaft power, saving energy and reducing fixed asset investment. Permanent magnet synchronous motors are easy to control, maintain constant speed regardless of load or voltage fluctuations, depend only on frequency, and operate smoothly and reliably. Due to strict speed synchronization and good dynamic response, they are suitable for variable frequency control. The installation dimensions of permanent magnet synchronous motors comply with IEC standards, allowing direct replacement of three-phase asynchronous motors. The protection rating can achieve IP54 and IP55, and some manufacturers also produce explosion-proof permanent magnet synchronous motors.

Bosch Rexroth INDRAMAT motor working principle

Motor direct torque control method. This method analyzes the mathematical model of the AC motor in the stator coordinate system, emphasizing direct control of the motor torque under the condition of an approximately circular rotating magnetic field, eliminating complex calculations such as vector coordinate transformations. Its field orientation uses stator flux linkage, which can be observed by knowing only the stator resistance, making it less susceptible to changes in motor parameters compared to vector control. In recent years, direct torque control has been applied to the control of permanent magnet synchronous motors, and its control laws and key technologies are gradually being understood and mastered. Direct torque control has broad application prospects in fully digital, high-torque, fast-response AC servo systems. Nonlinear control: AC motors are strongly coupled, nonlinear, multivariable systems. Nonlinear control achieves dynamic decoupling and global linearization of the system through nonlinear state feedback and nonlinear transformations, decomposing the nonlinear, multivariable, strongly coupled AC motor system into two independent linear single-variable systems. The rotor flux linkage subsystem consists of two inertial links. The regulators for the two subsystems are designed separately according to linear control theory to achieve expected performance indicators. However, the basis for feedback linearization of nonlinear systems is a motor model with known parameters and precise measurement or observation of the system. During motor operation, parameters change due to various factors, and the accuracy of flux linkage observation is difficult to verify, all of which affect the robustness of the system and may even degrade system performance. Thus, this control method still needs further improvement. Adaptive control can continuously extract model information during system operation to gradually refine the model, serving as a powerful means to overcome the impact of parameter changes. Adaptive methods applied to permanent magnet AC motor control include model reference adaptive control, parameter identification self-tuning control, and various newly developed nonlinear adaptive controls. However, all these methods have problems: ① Complex mathematical models and calculations complicate the control system; ② Identification and correction require a process, so for systems with rapid parameter changes, it is difficult to achieve good results due to insufficient time for correction. Sliding mode variable structure control is a control strategy of variable structure control. Its fundamental difference from conventional control lies in the discontinuity of control, i.e., a switching characteristic that causes the system "structure" to change at any time. Its main feature is to purposefully make the system move along a designed "sliding mode" trajectory based on the deviation of the controlled variable and its derivative. This sliding mode can be designed and is independent of system parameters and disturbances, thus giving the system strong robustness. Additionally, sliding mode variable structure control does not require any online identification, making it easy to implement. Over the past 10 years, applying sliding mode variable structure control to AC drives has been a research hotspot for scholars domestically and internationally, yielding some effective results. However, the inherent discontinuous switching characteristic of sliding mode variable structure control causes a "chattering" problem in the system. The main reasons are: ① For actual sliding mode variable structure systems, the control force is always limited, resulting in limited system acceleration; ② System inertia, time-space lag of switching switches, and state detection errors, especially in computer sampling systems, form "quasi-sliding modes" when the sampling time is long. Therefore, "chattering" inevitably exists in actual systems and cannot be eliminated, limiting its application.

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