Stator-rotor dual three-phase winding motor

Abstract

The invention discloses a stator and rotor dual three-phase winding motor, which belongs to the technical field of motors and comprises a stator, a rotor and an air gap. An air gap exists between the stator and the rotor according to the number of rotor teeth; the tooth number stator of the rotor teeth comprises stator teeth, stator windings, stator permanent magnets and stator yokes, the tooth number stator windings of the rotor teeth are three-phase windings and are wound on the stator teeth, stator grooves are formed between adjacent stator teeth, and the stator permanent magnets are placed in the stator grooves; the tooth number rotor of the rotor teeth comprises rotor normal teeth, rotor teeth, rotor permanent magnets and a rotor yoke part, the tooth number rotor teeth of the rotor teeth are divided into rotor split teeth and normal teeth, every two rotor normal teeth and one rotor split tooth form a group of rotor teeth, and a plurality of groups of rotor teeth are sequentially arranged and uniformly distributed along the circumferential direction; the tooth number rotor winding of the rotor teeth is a three-phase winding and is wound on the rotor teeth; the rotor grooves are formed between the adjacent rotor teeth, and the rotor permanent magnets are placed in the rotor grooves, so that the reliability and the fault-tolerant capability of the motor are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of motors, and in particular relates to a stator-rotor dual three-phase winding motor. Background Art

[0002] Modern industry urgently demands high-reliability, fault-tolerant, and high-power-density motors, particularly in key areas such as aerospace, new energy vehicles, ship propulsion, and high-end industrial equipment. Traditional three-phase motors are increasingly facing limitations in terms of reliable operation and system redundancy under extreme operating conditions. Dual three-phase motors, as a novel multiphase motor topology, have become a research hotspot in the electric drive field in recent years.

[0003] However, conventional dual three-phase motors regroup the armature windings on the stator side (e.g., CN119070522B, "A Winding Layout Method for Converting a Three-Phase Motor into a Dual Three-Phase Motor"). Because both sets of three-phase windings are located on the stator, there is spatial and electrical coupling. If one set fails, the fault can easily spread, causing a secondary failure.

[0004] Therefore, it is necessary to propose a new type of motor in which the air gap becomes the physical isolation between the two sets of windings to improve the reliability and fault tolerance of the motor. Summary of the Invention

[0005] The present invention provides a stator-rotor dual three-phase winding motor, in which two sets of three-phase windings are respectively placed on the stator and the rotor. The two sets of windings are physically isolated by an air gap, thereby improving the reliability and fault tolerance of the motor.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: A stator-rotor dual three-phase winding motor comprises a stator, a rotor and an air gap; an air gap exists between the stator and the rotor; The stator includes stator teeth, stator windings, stator permanent magnets and a stator yoke. The stator windings are three-phase windings wound around the stator teeth. Stator slots are formed between adjacent stator teeth, and the stator permanent magnets are placed in the stator slots. The rotor includes normal rotor teeth, rotor teeth, rotor windings, rotor permanent magnets and a rotor yoke. The rotor teeth are divided into split rotor teeth and normal teeth. Every two normal rotor teeth and one split rotor tooth form a group of rotor teeth. Multiple groups of rotor teeth are arranged in sequence and evenly distributed along the circumferential direction. The rotor winding is a three-phase winding wound on the rotor teeth. Rotor slots are formed between adjacent rotor teeth, and rotor permanent magnets are placed in the rotor slots.

[0007] Furthermore, the rotor split teeth are Y-shaped.

[0008] Furthermore, the slot-pole coordination of the dual three-phase winding motor satisfies formula (1), (1); Where, N s is the number of stator slots, N r is the number of rotor slots; P s is the number of stator teeth, P r is the number of rotor teeth; P as is the number of stator winding pole pairs, P ar is the number of rotor winding pole pairs; k r is the rotor tooth splitting coefficient.

[0009] Furthermore, when the stator-rotor dual three-phase winding motor is running, a three-phase symmetrical current is passed through the stator winding. The expression of the current passed through the stator winding is as follows: (2); in, is the stator A phase current, is the stator B phase current, is the stator C phase current, I as is the effective value of the stator phase current, α s is the stator current angle, ω es is the stator winding electrical angular velocity, ω r is the rotor mechanical angular velocity.

[0010] Furthermore, when the stator and rotor dual three-phase winding motor is running, the rotor winding injects three-phase asymmetric current, (3); in, is the rotor U-phase current, is the rotor V-phase current, is the rotor W-phase current, I ar is the effective value of the rotor phase current, α r is the rotor current angle, ω er is the electrical angular velocity of the rotor winding, ω r is the rotor mechanical angular velocity, P s is the number of stator teeth.

[0011] Furthermore, when the number of series turns per phase of the V-phase and W-phase windings in the rotor winding is 1.31 times the number of series turns per phase of the U-phase winding, the amplitude of the injected current remains consistent, and the expression of the current flowing into the rotor winding is as follows: (4).

[0012] Furthermore, the stator permanent magnets and the rotor permanent magnets are divided into three pieces, and the permanent magnets in all stator slots and rotor slots are configured in the same way. Depending on the magnetization method, the magnetization direction of the permanent magnets can be configured in the following two ways: 1) Overall inward magnetization solution: Stator permanent magnets: The middle permanent magnet is magnetized radially, with the direction toward the center of the circle; the upper permanent magnet is magnetized tangentially, with the direction being clockwise; the lower permanent magnet is magnetized tangentially, with the direction being counterclockwise; Rotor permanent magnets: The middle permanent magnet is also magnetized radially, with the direction toward the center of the circle; the upper permanent magnet is magnetized tangentially, with the direction being counterclockwise; the lower permanent magnet is magnetized tangentially, with the direction being clockwise; 2) Overall outward magnetization scheme: Stator permanent magnets: The middle permanent magnet is magnetized radially, with the direction facing away from the center of the circle; the upper permanent magnet is magnetized tangentially, with the direction being counterclockwise; the lower permanent magnet is magnetized tangentially, with the direction being clockwise; Rotor permanent magnets: The middle permanent magnet is radially magnetized, with the direction facing away from the center of the circle; the upper permanent magnet is tangentially magnetized, with the direction being clockwise; the lower permanent magnet is tangentially magnetized, with the direction being counterclockwise.

[0013] Furthermore, the permanent magnets in the stator slots and the rotor slots are formed into one piece, and the permanent magnets in each slot are configured in the same manner; When the overall inward magnetization scheme is adopted, the magnetization direction of the stator permanent magnet and the rotor permanent magnet is radial magnetization, facing inward; when the overall outward magnetization scheme is adopted, the magnetization direction of the stator permanent magnet and the rotor permanent magnet is radial magnetization, facing outward.

[0014] Furthermore, the stator winding has an 18-slot 2-pole structure, and the stator winding is arranged in two layers with a span of 4 slots.

[0015] Furthermore, the rotor winding has a 12-slot 2-pole structure, and the rotor winding is arranged in a single layer with a span of 3 slots.

[0016] Compared with the prior art, the present invention has at least the following beneficial technical effects: This invention achieves the simultaneous arrangement of two sets of three-phase windings on both the stator and rotor sides. Compared to conventional stator-side dual three-phase motors, the two windings of this invention are located on the stator and rotor, respectively, providing significant spatial and physical isolation. If one winding fails, the other can continue to operate, enabling the motor to continuously output torque, significantly enhancing the reliability and fault tolerance of the motor system. This patented invention has broad application prospects in fields requiring motors with high torque density and high fault tolerance.

[0017] The present invention discloses the slot-pole matching constraints and feasible slot-pole matching of such a dual three-phase motor, so that the motor design including the number of slots, number of teeth, and number of winding pole pairs can be quickly calculated, simplifying the design process of the motor.

[0018] The rotor teeth are arranged with one split tooth for every two normal teeth, resulting in asymmetric back EMF in the three-phase windings. By injecting asymmetric current, the neutral point current of the rotor winding is zero, and a circular magnetomotive force is formed in the air gap. As a result, the motor can output smooth torque.

[0019] This invention discloses a permanent magnet installation method and magnetization direction using a special array on both sides of the air gap, creating a guided magnetic path for the magnetic flux, thereby reducing magnetic leakage and improving the motor's torque output. Furthermore, this invention discloses a permanent magnet installation method and magnetization direction using a single permanent magnet, which can reduce the number of permanent magnets and ease manufacturing difficulty. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a structural diagram of a motor according to an embodiment of the present invention; Figure 2 This is a schematic diagram of a permanent magnet arrangement and magnetization direction according to an embodiment of the present invention; Figure 3 This is a schematic diagram of a permanent magnet arrangement and magnetization direction according to an embodiment of the present invention; Figure 4 Schematic diagram of the three-phase winding connection of the stator winding according to an embodiment of the present invention; Figure 5 Schematic diagram of the three-phase winding connection method of the rotor winding according to an embodiment of the present invention; Figure 6 1 is a schematic diagram of the back electromotive force of the stator three-phase winding according to an embodiment of the present invention; Figure 7 1 is a schematic diagram of the back electromotive force of the rotor three-phase winding according to an embodiment of the present invention; Figure 8 2 is a schematic diagram of a torque waveform according to an embodiment of the present invention.

[0021] Among them: 1. Stator; 1-1. Stator teeth; 1-2. Stator windings; 1-3. Stator permanent magnets; 1-4. Stator yoke; 2. Rotor; 2-1. Rotor normal teeth; 2-2. Rotor split teeth; 2-3. Rotor windings; 2-4. Rotor permanent magnets; 2-5. Rotor yoke; 3. Air gap. DETAILED DESCRIPTION

[0022] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0024] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may be another element centered thereon. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be another element centered thereon at the same time. The terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc. used herein indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used herein in the specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0026] It should be noted that the stator and rotor proposed in this invention are relative, ultimately determined based on actual application and system cost considerations. In this invention, an inner rotor motor is used as an example. The outer stator and inner rotor structures can be swapped, and the motor will still operate. Fixed the inner rotor and moving the outer stator create an outer rotor motor.

[0027] It should be noted that the motors that conform to the principles of the present invention include but are not limited to axial flux motors, disc motors, linear motors, transverse flux motors, etc., all of which fall within the scope of protection of the present invention.

[0028] In order to achieve the above object, the present invention adopts the following technical solutions: like Figure 1 As shown, the motor with dual three-phase stator and rotor windings proposed in the present invention is mainly divided into a stator 1, a rotor 2 and an air gap 3. There is an air gap 3 between the stator 1 and the rotor 2, and the stator 1 and the rotor 2 can move relative to each other.

[0029] The stator 1 comprises stator teeth 1-1, stator windings 1-2, stator permanent magnets 1-3, and a stator yoke 1-4. The stator teeth 1-1 are evenly spaced, and the stator windings 1-2 are three-phase windings wound around the stator teeth 1-1. Stator slots are formed between adjacent stator teeth 1-1. Stator permanent magnets 1-3 are placed at the slot openings near the air gap, between the stator teeth 1-1.

[0030] The rotor 2 includes normal rotor teeth 2-1, rotor teeth, rotor permanent magnets 2-4, and a rotor yoke 2-5. The rotor teeth are divided into split rotor teeth 2-2 and normal rotor teeth 2-1. Each set of two normal rotor teeth 2-1 and one split rotor tooth 2-2 forms a rotor tooth. Four sets of rotor teeth are arranged sequentially and evenly distributed along the circumference. The rotor winding 2-3 is also a three-phase winding and is wound around the rotor teeth. Rotor slots are formed between adjacent rotor teeth. The rotor permanent magnets 2-4 are placed at the notch of the rotor slots, adjacent to the air gap, between the rotor teeth.

[0031] The number of stator permanent magnets is equal to the number of stator teeth, and the number of rotor permanent magnets is equal to the number of rotor teeth.

[0032] Figure 2 The figure shows a schematic diagram of the permanent magnet arrangement and magnetization direction of an embodiment. The permanent magnets include stator permanent magnets 1-3 and rotor permanent magnets 2-4. The permanent magnets in each slot on the stator and rotor sides are divided into three pieces, and the permanent magnet configuration in each slot is the same.

[0033] Depending on the magnetization method, the magnetization direction of the permanent magnet can be configured in the following two ways: 1) Overall inward (facing the center of the circle) magnetization solution: Stator permanent magnets: The middle permanent magnet is magnetized radially, with the direction toward the center of the circle; the upper permanent magnet is magnetized tangentially, with the direction being clockwise; the lower permanent magnet is magnetized tangentially, with the direction being counterclockwise.

[0034] Rotor permanent magnets: The middle permanent magnet is also magnetized radially, with the direction toward the center of the circle; the upper permanent magnet is magnetized tangentially, with the direction being counterclockwise; the lower permanent magnet is magnetized tangentially, with the direction being clockwise.

[0035] 2) Magnetization scheme with the whole body facing outward (backwards to the center of the circle): Stator permanent magnets: The middle permanent magnet is magnetized radially, with the direction facing away from the center of the circle; the upper permanent magnet is magnetized tangentially, with the direction being counterclockwise; the lower permanent magnet is magnetized tangentially, with the direction being clockwise.

[0036] Rotor permanent magnets: The middle permanent magnet is radially magnetized, with the direction facing away from the center of the circle; the upper permanent magnet is tangentially magnetized, with the direction being clockwise; the lower permanent magnet is tangentially magnetized, with the direction being counterclockwise.

[0037] Figure 3 The figure shows a schematic diagram of the permanent magnet arrangement and magnetization direction in another embodiment. To reduce the number of permanent magnets, one permanent magnet can be placed in each slot. Similarly, the permanent magnet configuration within each slot is the same. If an overall inward-facing (facing the center of the circle) magnetization scheme is used, the magnetization direction of both the stator and rotor permanent magnets is radial, facing inward. If an overall outward-facing (facing away from the center of the circle) magnetization scheme is used, the magnetization direction of both the stator and rotor permanent magnets is radial, facing outward.

[0038] In order for this dual three-phase winding motor to work properly, the motor slot-pole coordination must follow certain constraints: (1) Where, N s is the number of stator slots, N r is the number of rotor slots; P s is the number of stator teeth, P r is the number of rotor teeth; P as is the number of stator winding pole pairs, P ar is the number of rotor winding pole pairs; k r is the rotor tooth splitting coefficient, that is, the ratio of the number of rotor teeth to the number of rotor slots, which is used to characterize the change in the number of teeth after the introduction of split teeth; Figure 1 Taking the embodiment shown as an example, the number of stator slots is 18, the number of rotor slots is 12, the number of stator teeth is 18, and the number of rotor teeth is 16, so the rotor tooth splitting coefficient is 4 / 3, and both the stator and rotor windings have 2 pairs of poles. Figure 4 and Figure 5 They were given Figure 1 The three-phase winding connection mode of the stator winding and the rotor winding of the embodiment shown.

[0039] The stator adopts an 18-slot, 2-pole winding structure with a double-layer winding arrangement. The solid and dotted lines in the figure represent the upper and lower winding conductors respectively. Figure 4 The numbers in are the numbers of the stator slots. Figure 5 The numbers in the figure represent the rotor slot numbers. A+, B+, and C+ represent the incoming coils for phases A, B, and C of the stator winding, respectively. A-, B-, and C- represent the outgoing coils for phases A, B, and C of the stator winding, respectively. U+, V+, and W+ represent the incoming coils for phases U, V, and W of the rotor winding, respectively. U-, V-, and W- represent the outgoing coils for phases U, V, and W of the rotor winding, respectively.

[0040] The stator winding spans four slots. For example, the A-phase winding first enters the first stator slot and exits the fifth, simplifying the description with "1 in, 5 out." Then, in order, the windings are connected in the following order: 2 in, 6 out, 10 in, 6 out, 10 in, 14 out, 11 in, 15 out, and 19 (i.e., 1) in, 15 out. The B-phase winding differs from the A-phase winding by six stator slots, resulting in the following connections: 7 in, 11 out, 8 in, 12 out, 16 in, 12 out, 16 in, 2 out, 17 in, 3 out, and 7 in, 3 out. Similarly, the C-phase winding differs from the A-phase winding by 12 stator slots, resulting in the following connections: 13 in, 17 out, 14 in, 18 out, 4 in, 18 out, 4 in, 8 out, 5 in, 9 out, and 13 in, 9 out. This creates a symmetrical three-phase stator winding layout.

[0041] The rotor has a 12-slot, 2-pole structure, with a single-layer winding arrangement and a span of three slots. For example, the U-phase winding enters the 1st rotor slot and exits the 4th rotor slot, i.e., 1' in, 4' out, then 7' in, 10' out. Similarly, the V-phase winding differs from the U-phase winding by four stator slots, so the V-phase winding is connected as 5' in, 8' out, then 11' in, 2' out. The W-phase winding differs from the U-phase winding by eight stator slots, so the W-phase winding is connected as 9' in, 12' out, then 3' in, 6' out. This constitutes the three-phase rotor winding layout.

[0042] Based on this slot-pole matching constraint, the feasible slot-pole matching of the stator-rotor dual three-phase motor is as follows:

[0043] in, k It is a positive integer such as 1, 2, 3...

[0044] The stator winding 1-2 is a three-phase winding arranged evenly, so its back electromotive force is symmetrical. Figure 6 As shown, the back EMF phase difference between phases A, B, and C is 120 degrees. A conventional three-phase symmetrical current can be fed into the stator winding. The expression for the current fed into the stator winding is as follows: (2) in, is the stator A phase current, is the stator B phase current, is the stator C phase current, I as is the effective value of the stator phase current, α s is the stator current angle, ω es is the stator winding electrical angular velocity, ω r is the rotor mechanical angular velocity.

[0045] Since there are split teeth between the rotor teeth, the rotor winding 2-3 is a three-phase winding with non-uniform arrangement, so its back electromotive force is asymmetric. Figure 7 As shown in Figure 1, the phase difference between phase U and phases V and W is 135 degrees, while the phase difference between phase V and phase W is 90 degrees. When the number of series turns per phase is the same, the amplitudes of the three phase back EMFs are the same.

[0046] For asymmetric rotor windings, it is necessary to inject asymmetric three-phase currents to make the neutral point current zero and form a circular magnetomotive force in the air gap. The expression for the current flowing through the rotor winding is as follows: (3) in, is the rotor U-phase current, is the rotor V-phase current, is the rotor W-phase current, I ar is the effective value of the rotor phase current, α r is the rotor current angle, ω er is the electrical angular velocity of the rotor winding.

[0047] When the number of series turns per phase of the V-phase and W-phase windings is set to 1.31 times the number of series turns per phase of the U-phase winding, the amplitude of the injected current can be kept consistent. The expression for the current flowing into the rotor winding is as follows: (4) like Figure 8 As shown, when the current represented by formula (2) is passed through the stator winding and the current represented by formula (3) is passed through the rotor winding, the motor can generate a smooth torque output with low torque pulsation and excellent performance. At the same time, the stator winding and rotor winding can work independently to generate torque separately, or they can work simultaneously to generate torque at the same time. When one set of windings fails, the other set of windings can continue to work, allowing the motor to continuously output torque, greatly enhancing the reliability and fault tolerance of the motor system.

[0048] In summary, the present invention discloses a motor with dual three-phase stator and rotor windings, comprising a stator, a rotor, and an air gap. The stator has a set of permanent magnets and three-phase windings. The rotor also has a set of permanent magnets and three-phase windings. Therefore, the present invention achieves, for the first time, the arrangement of a set of three-phase windings on both the stator and rotor. On the rotor, every two normal rotor teeth are sequentially aligned with one split tooth, resulting in an asymmetric winding structure and, in turn, an asymmetric back electromotive force within the windings. To address this asymmetric rotor winding, the present invention also discloses a current injection method. By adjusting the phase difference and current amplitude of the three-phase currents, the neutral point current of the rotor winding can be reduced to zero, and a circular magnetomotive force can be formed in the air gap, thereby reducing torque ripple and improving the torque-to-current ratio. Consequently, the motor can output stable torque. Furthermore, the two windings can operate independently, generating torque separately, or simultaneously, generating torque together. If one winding fails, the other winding can continue to operate, allowing the motor to continuously output torque, significantly enhancing the reliability and fault tolerance of the motor system.

[0049] The term "consisting of" when describing a combination should include the identified elements, ingredients, components, or steps as well as other elements, ingredients, components, or steps that do not materially affect the basic novel characteristic of the combination. The use of the terms "comprising" or "including" to describe a combination of elements, ingredients, components, or steps herein also contemplates embodiments consisting essentially of these elements, ingredients, components, or steps. The use of the term "may" herein is intended to indicate that any of the attributes described as "may" be optional.

[0050] Multiple elements, ingredients, parts or steps can be provided by a single integrated element, ingredient, part or step. Alternatively, a single integrated element, ingredient, part or step can be divided into separate multiple elements, ingredients, parts or steps. The disclosure of "a" or "an" to describe an element, ingredient, part or step is not intended to exclude other elements, ingredients, parts or steps.

[0051] It should be understood that the above description is for illustrative purposes only and is not intended to be limiting. Many embodiments and many applications beyond the examples provided will be apparent to those skilled in the art upon reading the above description. Therefore, the scope of the present teachings should not be determined with reference to the above description, but rather with reference to the preceding claims and the full scope of equivalents to which such claims are entitled. For the purpose of completeness, all articles and references, including disclosures of patent applications and publications, are incorporated herein by reference. The omission of any aspect of the subject matter disclosed herein from the preceding claims is not a disclaimer of such subject matter, nor should it be considered that the applicants did not consider such subject matter to be part of the disclosed inventive subject matter.

Claims

1. A stator and rotor dual three-phase winding motor, characterized in that: It comprises a stator (1), a rotor (2) and an air gap (3); an air gap (3) exists between the stator (1) and the rotor (2); The stator (1) comprises stator teeth (1-1), stator windings (1-2), stator permanent magnets (1-3) and a stator yoke (1-4); the stator windings (1-2) are three-phase windings wound around the stator teeth (1-1); stator slots are formed between adjacent stator teeth (1-1); and the stator permanent magnets (1-3) are placed in the stator slots; The rotor (2) comprises normal rotor teeth (2-1), rotor teeth, rotor windings (2-3), rotor permanent magnets (2-4) and a rotor yoke (2-5); the rotor teeth are divided into split rotor teeth (2-2) and normal teeth (2-1); every two normal rotor teeth (2-1) and one split rotor tooth (2-2) form a group of rotor teeth; multiple groups of rotor teeth are arranged in sequence and evenly distributed along the circumferential direction; the rotor windings (2-3) are three-phase windings wound on the rotor teeth; rotor slots are formed between adjacent rotor teeth, and the rotor permanent magnets (2-4) are placed in the rotor slots.

2. The stator-rotor dual three-phase winding motor according to claim 1, characterized in that: The rotor split teeth (2-2) are Y-shaped.

3. The stator-rotor dual three-phase winding motor according to claim 1, characterized in that: The slot-pole coordination of the dual three-phase winding motor satisfies formula (1), （1）； Where, N s is the number of stator slots, N r is the number of rotor slots; P s is the number of stator teeth, P r is the number of rotor teeth; P as is the number of stator winding pole pairs, P ar is the number of rotor winding pole pairs; k r is the rotor tooth splitting coefficient.

4. The stator-rotor dual three-phase winding motor according to claim 1, characterized in that: When the stator-rotor dual three-phase winding motor is running, a three-phase symmetrical current is passed through the stator winding. The expression of the current passed through the stator winding is as follows: （2）； in, is the stator A phase current, is the stator B phase current, is the stator C phase current, I as is the effective value of the stator phase current, α s is the stator current angle, ω es is the stator winding electrical angular velocity, ω r is the rotor mechanical angular velocity.

5. The stator-rotor dual three-phase winding motor according to claim 1, characterized in that: When the stator-rotor dual three-phase winding motor is running, the rotor winding injects a three-phase asymmetric current. （3）； in, is the rotor U-phase current, is the rotor V-phase current, is the rotor W-phase current, I ar is the effective value of the rotor phase current, α r is the rotor current angle, ω er is the electrical angular velocity of the rotor winding, ω r is the rotor mechanical angular velocity, P s is the number of stator teeth.

6. The stator-rotor dual three-phase winding motor according to claim 5, characterized in that: When the number of series turns of each phase of the V-phase and W-phase windings in the rotor winding is 1.31 times the number of series turns of each phase of the U-phase winding, the amplitude of the injected current remains consistent. The expression of the current flowing into the rotor winding is as follows: （4）。 7. The stator-rotor dual three-phase winding motor according to claim 1, characterized in that: The stator permanent magnets and rotor permanent magnets are divided into three pieces. The permanent magnets in all stator slots and rotor slots are configured in the same way. Depending on the magnetization method, the magnetization direction of the permanent magnets can be configured in the following two ways: 1) Overall inward magnetization solution: Stator permanent magnets: The middle permanent magnet is magnetized radially, with the direction toward the center of the circle; the upper permanent magnet is magnetized tangentially, with the direction being clockwise; the lower permanent magnet is magnetized tangentially, with the direction being counterclockwise; Rotor permanent magnets: The middle permanent magnet is also magnetized radially, with the direction toward the center of the circle; the upper permanent magnet is magnetized tangentially, with the direction being counterclockwise; the lower permanent magnet is magnetized tangentially, with the direction being clockwise; 2) Overall outward magnetization scheme: Stator permanent magnets: The middle permanent magnet is magnetized radially, with the direction facing away from the center of the circle; the upper permanent magnet is magnetized tangentially, with the direction being counterclockwise; the lower permanent magnet is magnetized tangentially, with the direction being clockwise; Rotor permanent magnets: The middle permanent magnet is radially magnetized, with the direction facing away from the center of the circle; the upper permanent magnet is tangentially magnetized, with the direction being clockwise; the lower permanent magnet is tangentially magnetized, with the direction being counterclockwise.

8. The stator-rotor dual three-phase winding motor according to claim 1, characterized in that: The permanent magnets in the stator slots and the rotor slots are in one piece, and the permanent magnets in each slot are configured in the same manner; When the overall inward magnetization scheme is adopted, the magnetization direction of the stator permanent magnet and the rotor permanent magnet is radial magnetization, facing inward; when the overall outward magnetization scheme is adopted, the magnetization direction of the stator permanent magnet and the rotor permanent magnet is radial magnetization, facing outward.

9. The stator-rotor dual three-phase winding motor according to claim 1, characterized in that: The stator winding has an 18-slot 2-pole structure, and the stator winding is arranged in two layers with a span of 4 slots.

10. The stator-rotor dual three-phase winding motor according to claim 1, characterized in that: The rotor winding has a 12-slot 2-pole structure, and the rotor winding is arranged in a single layer with a span of 3 slots.

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