Method and system for designing torque driving effective magnetic potential of permanent magnetic driver

Abstract

The invention relates to the technical field of permanent magnet eddy current speed regulation, in particular to a torque driving effective magnetic potential design method and system for a permanent magnet magnetic driver, and the method comprises the steps: obtaining basic information and transmission torque; performing torque transmission calculation according to the transmission torque to obtain a kinetic model and a space magnetic potential model; performing magnetic flux density and torque driving calculation according to the kinetic model and the space magnetic potential model to obtain a magnetic flux density expression and a torque driving magnetic potential expression; performing physical derivation according to the magnetic flux density expression to obtain a magnetic force expression; according to the magnetic force expression and the kinetic model, performing calculation to obtain an equivalent stiffness coefficient physical model; and modeling according to the torque driving magnetic potential expression and the equivalent stiffness coefficient physical model to obtain a torque driving effective magnetic potential mathematical model. According to the method, the effective magnetic potential driven by the torque of the permanent magnetic driver can be directly calculated through each physical quantity in the driver.

Description

Technical Field

[0001] This invention relates to the field of permanent magnet eddy current speed regulation technology, and in particular to a method and system for designing effective magnetomotive force for torque drive of a permanent magnet magnetic drive. Background Technology

[0002] Currently, permanent magnet drive systems are widely used in industrial transmission systems due to their high efficiency, stability, and maintenance-free torque transmission method, which eliminates mechanical contact. However, the dynamic performance of permanent magnet drive systems is affected by multiple physical quantities, such as torque transmission, magnetic field distribution, and rotor displacement. Accurately calculating the effective magnetomotive force (MOMF) of the torque drive is crucial for evaluating its performance during the design and optimization process. However, due to the nonlinear magnetic field distribution and complex dynamic coupling relationships involved in the operation of permanent magnet drive systems, a theoretical model that can directly and accurately calculate the effective MOMF of the torque drive from the physical quantities of the drive system is currently lacking.

[0003] In one existing technology, the method for calculating the effective magnetomotive force (MMF) of a permanent magnet drive combines numerical simulation with experimental measurement. First, a geometric model of the permanent magnet drive is constructed to obtain the structural parameters, material properties, and dynamic parameters of the input and output sides of the permanent magnet. Then, finite element analysis software is used to simulate the working area of ​​the drive, solving for the magnetic field distribution to obtain the distribution of physical quantities such as magnetic flux density and magnetic field strength. Next, the transmission torque is measured under different load conditions using experimental equipment, and the experimental results are combined with the simulation data to fit an empirical formula or characteristic curve for the effective MMF. Finally, based on the simulation and experimental results, the correlation between the magnetic field distribution and the torque is analyzed.

[0004] However, due to the highly complex coupling relationship between the magnetic field distribution and torque drive of permanent magnet drive systems, existing technologies are limited by the simplification of boundary conditions in finite element simulations and their reliance on experimental measurements, making it difficult to accurately describe the effective magnetomotive force characteristics under dynamic operating conditions. In particular, existing technologies fail to directly derive a mathematical model of the effective magnetomotive force of a permanent magnet drive system from the physical quantities within the drive system. Therefore, existing technologies suffer from the inability to directly calculate the effective magnetomotive force of a permanent magnet drive system from the various physical quantities within the drive system, resulting in low design efficiency. Summary of the Invention

[0005] This invention provides a method and system for designing the effective magnetomotive force of a permanent magnet drive, in order to solve the problem that the effective magnetomotive force of a permanent magnet drive cannot be directly calculated from the various physical quantities within the drive.

[0006] Firstly, to address the aforementioned technical problems, this invention provides a method for designing the effective magnetomotive force for torque drive of a permanent magnet drive, comprising: Obtain basic information about the permanent magnet drive and its transmission torque; Based on the transmission torque and the basic information, torque transmission calculation and modeling are performed to obtain the dynamic model and the spatial magnetomotive force model; Based on the dynamic model, the spatial magnetomotive force model and the basic information, magnetic flux density and torque drive calculations are performed to obtain the magnetic flux density expression and torque drive magnetomotive force expression on the surface of the permanent magnet magnetic drive rotor. Based on the magnetic flux density expression, a physical derivation is performed to obtain the magnetic force expression of the permanent magnet magnetic drive acting on the magnetic rotor; Based on the magnetic force expression, the dynamic model, and the spatial magnetic potential model, the correspondence between the equivalent stiffness coefficient and the magnetic load of the magnetic rotor is calculated to obtain the physical model of the equivalent stiffness coefficient. Based on the torque-driven magnetomotive force expression and the physical model of the equivalent stiffness coefficient, a mathematical model of the torque-driven effective magnetomotive force is obtained.

[0007] In one optional implementation, obtaining the basic information of the permanent magnet drive and the transmission torque of the permanent magnet drive includes: Obtain the structural parameters of the permanent magnet drive, the relative position between the input and output sides of the permanent magnet drive, the relative speed between the input and output sides of the permanent magnet drive, the load state of the permanent magnet drive, the input side speed of the permanent magnet drive, and the input side torque of the permanent magnet drive; The basic information defining a permanent magnet drive includes the structural parameters, relative position, relative speed, load state, input-side rotational speed, and input-side torque. Based on the aforementioned basic information, a transmission torque characteristic analysis is performed to obtain the transmission torque characteristic curve of the permanent magnet drive. Based on the transmission torque characteristic curve and the load state, the transmission torque of the permanent magnet drive is obtained through analysis.

[0008] In one optional implementation, the step of calculating and modeling torque transmission based on the transmission torque and the basic information to obtain a dynamic model and a spatial magnetomotive force model includes: Based on the transmission torque, the torque distribution and torque variation law under different load conditions are analyzed to obtain a set of dynamic differential equations reflecting the dynamic relationship between the input side and the output side; Based on the aforementioned set of dynamic differential equations and the aforementioned basic information, dynamic characteristic analysis is performed to obtain a dynamic model; Based on the transmission torque and the basic information, magnetic circuit theory and finite element analysis are used to calculate the magnetic flux density distribution on the magnetic pole surface and in the gap region, and a spatial magnetic potential model is obtained. The calculation process of the dynamic model is represented by the following formula: The calculation process of the space magnetic potential model is represented by the following formula: in, This represents the magnetic force acting on the magnetic rotor of the permanent magnet drive. Indicates the mass of the magnetic rotor. This is the equivalent stiffness coefficient; Indicates load torque. Indicates the rotor angular velocity. Indicates the rotor angle. For air gap magnetic flux density, This refers to the axial length of the external rotor permanent magnet. The diameter of the outer rotor permanent magnet is [missing information]. This is the distance from the center of the permanent magnet to the central axis of the rotor. For the direction of current in The angle between the projection onto the plane and the axis; This represents the spatial magnetomotive force of a permanent magnet drive. This represents the remanent magnetic flux density of a permanent magnet. Indicates coercivity, The angle between the center of the permanent magnet and the vertical direction. and These are the Bessel function and the modified Bessel function, respectively. The air gap magnetic field strength, It is half the axial thickness of the permanent magnet.

[0009] In one optional implementation, the step of performing magnetic flux density and torque drive calculations based on the dynamic model, the spatial magnetomotive force model, and the basic information to obtain the magnetic flux density expression and torque drive magnetomotive force expression on the surface of the permanent magnet drive rotor includes: Based on the aforementioned dynamic model, the rotor dynamic behavior analysis was performed to obtain the magnetic force distribution characteristics; Based on the magnetic force distribution characteristics and the basic information, the magnetic flux density distribution on the rotor surface is calculated to obtain the expression for the magnetic flux density on the surface of the permanent magnet magnetic drive rotor. Based on the spatial magnetomotive force model, the magnetic field distribution law of the permanent magnet in the working area of ​​the permanent magnet magnetic force transmission is analyzed by combining magnetomotive force theory with torque driving effect, and the torque driving magnetomotive force expression is obtained. The calculation process for the magnetic flux density on the surface of the permanent magnet magnetic drive rotor is expressed by the following formula: The calculation process of the torque-driven magnetomotive force expression is represented by the following formula: in, For air gap magnetic flux density, This refers to the axial length of the external rotor permanent magnet. The diameter of the outer rotor permanent magnet is [missing information]. This is the distance from the center of the permanent magnet to the central axis of the rotor. This is the equivalent stiffness coefficient. Indicates the rotor angle. For the direction of current in The angle between the projection on the plane and the axis. This represents the remanent magnetic flux density of a permanent magnet. The angle between the center of the permanent magnet and the vertical direction. and These are the Bessel function and the modified Bessel function, respectively. The air gap magnetic field strength, It is half the axial thickness of the permanent magnet; It represents magnetic flux density, which is the magnetic flux per unit area on the surface of the magnetic rotor of a permanent magnet drive. This refers to the torque-driven magnetomotive force, which is the torque generated by the magnetomotive force of the rotor driven by the permanent magnet drive.

[0010] In one optional implementation, the step of deriving the magnetic force expression of the permanent magnet drive acting on the magnetic rotor based on the magnetic flux density expression includes: Based on the magnetic flux density expression, and combined with the relationship between magnetic force and magnetic flux density gradient, gradient calculation is performed to obtain the preliminary magnetic force expression of the permanent magnet magnetic drive acting on the magnetic rotor. Based on the preliminary magnetic force expression, and combined with the law of the magnetic field's effect on the rotor, the expression is simplified to obtain the magnetic force expression of the permanent magnet magnetic drive acting on the magnetic rotor. The calculation process of the magnetic force expression is represented by the following formula: in, Indicates magnetic force. For air gap magnetic flux density, This refers to the axial length of the external rotor permanent magnet. The diameter of the outer rotor permanent magnet is [missing information]. This is the distance from the center of the permanent magnet to the central axis of the rotor. This is the equivalent stiffness coefficient. Indicates the rotor angle. For the direction of current in The angle between the projection on the plane and the axis. This represents the angle between the direction of the magnetic flux density and the direction of the normal to the surface of the permanent magnet.

[0011] In one optional implementation, the step of calculating the correspondence between the equivalent stiffness coefficient and the magnetic load of the magnetic rotor based on the magnetic force expression, the dynamic model, and the spatial magnetomotive force model to obtain the physical model of the equivalent stiffness coefficient includes: Based on the magnetic force expression, combined with the magnetic field distribution characteristics and load state during the operation of the magnetic rotor, the magnetic force distribution per unit area is calculated. Based on the magnetic force distribution per unit area and the dynamic model, the displacement response of the magnetic rotor under torque drive is analyzed to obtain the functional relationship between displacement and magnetic force. Based on the aforementioned functional relationship and the definition of stiffness, the equivalent stiffness coefficient is calculated. Based on the equivalent stiffness coefficient and the spatial magnetic potential model, the model is organized and modeled to obtain the physical model of the equivalent stiffness coefficient. The calculation process of the physical model of the equivalent stiffness coefficient is expressed by the following formula: in, For air gap magnetic flux density, This refers to the axial length of the external rotor permanent magnet. The diameter of the outer rotor permanent magnet is [missing information]. This is the distance from the center of the permanent magnet to the central axis of the rotor. This is the equivalent stiffness coefficient. Indicates the rotor angle. For the direction of current in The angle between the projection on the plane and the axis. This represents the angle between the direction of the magnetic flux density and the direction of the normal to the surface of the permanent magnet.

[0012] In one optional implementation, the step of modeling based on the torque-driven magnetomotive force expression and the equivalent stiffness coefficient physical model to obtain a mathematical model of the torque-driven effective magnetomotive force includes: Based on the torque-driven magnetomotive force expression and the equivalent stiffness coefficient physical model, a mathematical model of the torque-driven effective magnetomotive force is obtained by combining analytical derivation and numerical calculation. The calculation process of the effective magnetomotive force mathematical model driven by torque is expressed by the following formula: in, Indicates the effective magnetomotive force driven by torque. Indicates the equivalent stiffness coefficient. A function describing the magnetic flux density and magnetic field strength of a permanent magnet. Indicates the rotor angle. This refers to the axial length of the external rotor permanent magnet. The diameter of the outer rotor permanent magnet is [missing information]. This is the distance from the center of the permanent magnet to the central axis of the rotor. For the direction of current in The angle between the projection on the plane and the axis. This represents the remanent magnetic flux density of a permanent magnet. The angle between the center of the permanent magnet and the vertical direction. The air gap magnetic field strength, It is half the axial thickness of the permanent magnet.

[0013] Secondly, the present invention provides a torque-driven effective magnetomotive force calculation system for a permanent magnet drive, comprising: The data acquisition module is used to acquire basic information about the permanent magnet drive and its transmission torque. The preliminary modeling module is used to perform torque transmission calculation and modeling based on the transmission torque and the basic information to obtain the dynamic model and the spatial magnetomotive force model. The model analysis module is used to perform magnetic flux density and torque drive calculations based on the dynamic model, the spatial magnetomotive force model and the basic information, and to obtain the magnetic flux density expression and torque drive magnetomotive force expression on the surface of the permanent magnet magnetic drive rotor. The magnetic force derivation module is used to perform physical derivation based on the magnetic flux density expression to obtain the magnetic force expression of the permanent magnet magnetic force transmission device acting on the magnetic rotor; The stiffness analysis module is used to calculate the correspondence between the equivalent stiffness coefficient and the magnetic load of the magnetic rotor based on the magnetic force expression, the dynamic model and the spatial magnetomotive force model, and to obtain the physical model of the equivalent stiffness coefficient. The result output module is used to perform modeling based on the torque-driven magnetomotive force expression and the equivalent stiffness coefficient physical model to obtain a mathematical model of the torque-driven effective magnetomotive force.

[0014] Thirdly, the present invention also provides an electronic device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor, when executing the computer program, implements the torque-driven effective magnetomotive force design method for a permanent magnet drive as described in any one of the above.

[0015] Fourthly, the present invention also provides a computer-readable storage medium comprising a stored computer program, wherein, when the computer program is executed, it controls the device containing the computer-readable storage medium to perform the torque-driven effective magnetomotive force design method for the permanent magnet drive described in any one of the above.

[0016] Compared with the prior art, the present invention has the following beneficial effects: (1) This invention can improve design and optimization efficiency. This invention provides a method for directly calculating the effective magnetomotive force of a permanent magnet drive based on the internal physical quantities of the drive. This method eliminates the high dependence of traditional technology on finite element simulation and experimental measurement, and can quickly and accurately establish mathematical models. In industrial design, this method can be used to quickly evaluate the performance of permanent magnet drives, optimize their structure and parameters, thereby shortening the R&D cycle and improving efficiency.

[0017] (2) This invention can improve the dynamic performance of the system. By accurately calculating the effective magnetomotive force of the torque drive, the dynamic behavior of the permanent magnet drive under different loads and operating conditions can be described more accurately, especially its performance under nonlinear magnetic field distribution and complex dynamic coupling relationship.

[0018] (3) In industrial transmission systems, this precise dynamic performance description helps to improve the stability and reliability of the system, reduce equipment failures caused by uneven magnetic field distribution or torque fluctuations, and extend the service life of the equipment.

[0019] (4) This invention can dynamically adjust the calculation model of the effective magnetomotive force of torque drive according to different load states and operating conditions, thereby achieving adaptive optimization for different working conditions. In practical industrial applications, permanent magnet drive systems may face a variety of complex operating environments and load changes. This method can optimize the operating status of the equipment in real time, making it better adaptable to different industrial scenarios and improving the versatility and flexibility of the system.

[0020] (5) Because this method can accurately calculate the effective magnetomotive force, it optimizes the magnetic field distribution and torque transmission efficiency, reducing mechanical wear and energy loss caused by magnetic field inhomogeneity or torque fluctuations. In the long-term operation of industrial equipment, reducing mechanical wear and energy loss means higher energy utilization efficiency. Through accurate magnetomotive force calculation and optimization, the loss of magnetic field energy can be reduced, and the energy utilization efficiency of permanent magnet drive can be improved.

[0021] In summary, this invention, through a systematic calculation and modeling process, directly starts from the internal physical quantities of the transmission device to accurately calculate the effective magnetomotive force of the permanent magnet drive, which significantly improves the design efficiency, dynamic performance, adaptability, and energy utilization efficiency of the equipment. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the design method for the effective magnetomotive force of the permanent magnet drive provided in the first embodiment of the present invention. Figure 2 This is a schematic diagram of the effective magnetomotive force calculation system for the torque drive of the permanent magnet drive provided in the second embodiment of the present invention. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Reference Figure 1 The first embodiment of the present invention provides a method for designing the effective magnetomotive force for torque drive of a permanent magnet drive, comprising the following steps: S11, obtain the basic information of the permanent magnet drive and the transmission torque of the permanent magnet drive; S12, based on the transmission torque and the basic information, perform torque transmission calculation and modeling to obtain the dynamic model and the spatial magnetomotive force model; S13. Based on the dynamic model, the spatial magnetomotive force model and the basic information, perform magnetic flux density and torque drive calculations to obtain the magnetic flux density expression and torque drive magnetomotive force expression on the surface of the permanent magnet magnetic drive rotor. S14. Based on the magnetic flux density expression, a physical derivation is performed to obtain the magnetic force expression of the permanent magnet magnetic drive acting on the magnetic rotor. S15. Based on the magnetic force expression, the dynamic model, and the spatial magnetic potential model, calculate the correspondence between the equivalent stiffness coefficient and the magnetic load of the magnetic rotor to obtain the physical model of the equivalent stiffness coefficient. S16. Based on the torque-driven magnetomotive force expression and the equivalent stiffness coefficient physical model, a model is constructed to obtain the torque-driven effective magnetomotive force mathematical model.

[0025] In step S11, it is necessary to obtain the basic information of the permanent magnet drive and the transmission torque of the permanent magnet drive.

[0026] In one implementation, obtaining the basic information of the permanent magnet drive and the transmission torque of the permanent magnet drive includes: Obtain the structural parameters, relative positions of the input and output sides of the permanent magnet drive, relative speeds of the input and output sides, load state, input speed, and input torque of the permanent magnet drive. Define the basic information of the permanent magnet drive, including the structural parameters, relative positions, relative speeds, load state, input speed, and input torque. Based on the basic information, perform transmission torque characteristic analysis to obtain the transmission torque characteristic curve of the permanent magnet drive. Analyze the transmission torque characteristic curve and the load state to obtain the transmission torque of the permanent magnet drive.

[0027] In step S12, torque transmission calculation and modeling are performed based on the transmission torque and the basic information to obtain the dynamic model and the spatial magnetomotive force model.

[0028] In one implementation, the step of calculating and modeling torque transmission based on the transmission torque and the basic information to obtain a dynamic model and a spatial magnetomotive force model includes: Based on the transmission torque, the torque distribution and torque variation law under different load conditions are analyzed to obtain a set of dynamic differential equations reflecting the dynamic relationship between the input and output sides; based on the set of dynamic differential equations and the basic information, dynamic characteristic analysis is performed to obtain a dynamic model; based on the transmission torque and the basic information, magnetic circuit theory and finite element analysis are used to calculate the magnetic flux density distribution on the magnetic pole surface and the gap region to obtain a spatial magnetic potential model. The calculation process of the dynamic model is represented by the following formula: The calculation process of the space magnetic potential model is represented by the following formula: in, This represents the magnetic force acting on the magnetic rotor of the permanent magnet drive. Indicates the mass of the magnetic rotor. This is the equivalent stiffness coefficient; Indicates load torque. Indicates the rotor angular velocity. Indicates the rotor angle. For air gap magnetic flux density, This refers to the axial length of the external rotor permanent magnet. The diameter of the outer rotor permanent magnet is [missing information]. This is the distance from the center of the permanent magnet to the central axis of the rotor. For the direction of current in The angle between the projection onto the plane and the axis; This represents the spatial magnetomotive force of a permanent magnet drive. This represents the remanent magnetic flux density of a permanent magnet. Indicates coercivity, The angle between the center of the permanent magnet and the vertical direction. and These are the Bessel function and the modified Bessel function, respectively. The air gap magnetic field strength, It is half the axial thickness of the permanent magnet.

[0029] It should be noted that the dynamic model and the spatial magnetomotive force model are the foundation for calculating the effective magnetomotive force of the permanent magnet drive in this invention. The dynamic model is obtained by analyzing the torque distribution and torque variation of the permanent magnet drive under different load conditions, combining the dynamic relationship between the input and output sides, establishing a set of differential equations reflecting its motion characteristics, and combining the basic information of the permanent magnet drive for dynamic characteristic analysis, describing the system's motion law and torque transmission process. The spatial magnetomotive force model, based on the transmission torque and basic information of the permanent magnet drive, uses magnetic circuit theory and finite element analysis to calculate the magnetic flux density distribution on the magnetic pole surface and gap region, establishing a mathematical model reflecting the spatial distribution characteristics of the magnetic field and the magnetic flux transmission law. The dynamic model and the spatial magnetomotive force model not only describe the interaction between dynamic behavior and magnetic field characteristics, but also provide theoretical support for the accurate calculation of the magnetic flux density expression and torque-driven magnetomotive force expression on the surface of the permanent magnet drive rotor, thus effectively solving the problem in the prior art that the effective magnetomotive force of torque drive cannot be directly calculated from the physical quantities within the drive, providing a solid foundation for subsequent mathematical modeling and performance optimization.

[0030] In step S13, based on the dynamic model, the spatial magnetomotive force model, and the basic information, magnetic flux density and torque drive calculations are performed to obtain the magnetic flux density expression and torque drive magnetomotive force expression on the surface of the permanent magnet magnetic drive rotor.

[0031] In one implementation, the step of performing magnetic flux density and torque drive calculations based on the dynamic model, the spatial magnetomotive force model, and the basic information to obtain expressions for the magnetic flux density and torque drive magnetomotive force on the surface of the permanent magnet drive rotor includes: Based on the dynamic model, rotor dynamic behavior analysis is performed to obtain magnetic force distribution characteristics; based on the magnetic force distribution characteristics and the basic information, the magnetic flux density distribution on the rotor surface is calculated to obtain the magnetic flux density expression on the surface of the permanent magnet magnetic drive rotor; based on the spatial magnetomotive force model, magnetomotive force theory is used in combination with torque driving effect to analyze the magnetic field distribution law of the permanent magnet in the working area of ​​the permanent magnet magnetic drive to obtain the torque driving magnetomotive force expression. The calculation process for the magnetic flux density on the surface of the permanent magnet magnetic drive rotor is expressed by the following formula: The calculation process of the torque-driven magnetomotive force expression is represented by the following formula: in, For air gap magnetic flux density, This refers to the axial length of the external rotor permanent magnet. The diameter of the outer rotor permanent magnet is [missing information]. This is the distance from the center of the permanent magnet to the central axis of the rotor. This is the equivalent stiffness coefficient. Indicates the rotor angle. For the direction of current in The angle between the projection on the plane and the axis. This represents the remanent magnetic flux density of a permanent magnet. The angle between the center of the permanent magnet and the vertical direction. and These are the Bessel function and the modified Bessel function, respectively. The air gap magnetic field strength, It is half the axial thickness of the permanent magnet; It represents magnetic flux density, which is the magnetic flux per unit area on the surface of the magnetic rotor of a permanent magnet drive. This refers to the torque-driven magnetomotive force, which is the torque generated by the magnetomotive force of the rotor driven by the permanent magnet drive.

[0032] It should be noted that the expressions for magnetic flux density and torque-driven magnetomotive force on the surface of the permanent magnet drive rotor are used to describe the magnetic flux density distribution and torque-driven magnetomotive force characteristics on the rotor surface, respectively. These expressions form the basis for accurately calculating the effective torque-driven magnetomotive force of the permanent magnet drive. The magnetic flux density expression, by analyzing the dynamic model and rotor dynamic behavior, combined with the basic information of the permanent magnet drive, calculates the magnetic flux density distribution on the rotor surface, reflecting the variation law of magnetic field strength under different operating conditions, and providing a theoretical basis for subsequent magnetic expression calculations. The torque-driven magnetomotive force expression, based on the aforementioned spatial magnetomotive force model, analyzes the magnetic field distribution law in the working area of ​​the permanent magnet drive through magnetomotive force theory, linking magnetic field characteristics with the torque-driven effect, and describing the relationship between torque and magnetomotive force. The magnetic flux density expression and the torque-driven magnetomotive force expression together support the establishment and optimization of the mathematical model of the effective torque-driven magnetomotive force, providing crucial support for system design and performance improvement.

[0033] In step S14, it is necessary to perform a physical derivation based on the magnetic flux density expression to obtain the magnetic force expression of the permanent magnet magnetic drive acting on the magnetic rotor.

[0034] In one implementation, the step of deriving the magnetic force expression of the permanent magnet drive acting on the magnetic rotor based on the magnetic flux density expression includes: Based on the magnetic flux density expression, and combined with the relationship between magnetic force and magnetic flux density gradient, gradient calculation is performed to obtain the preliminary magnetic force expression of the permanent magnet magnetic drive acting on the magnetic rotor; based on the preliminary magnetic force expression, and combined with the law of the magnetic field's effect on the rotor, the expression is simplified to obtain the magnetic force expression of the permanent magnet magnetic drive acting on the magnetic rotor. The calculation process of the magnetic force expression is represented by the following formula: in, Indicates magnetic force. For air gap magnetic flux density, This refers to the axial length of the external rotor permanent magnet. The diameter of the outer rotor permanent magnet is [missing information]. This is the distance from the center of the permanent magnet to the central axis of the rotor. This is the equivalent stiffness coefficient. Indicates the rotor angle. For the direction of current in The angle between the projection on the plane and the axis. This represents the angle between the direction of the magnetic flux density and the direction of the normal to the surface of the permanent magnet.

[0035] In step S15, the correspondence between the equivalent stiffness coefficient and the magnetic load of the magnetic rotor needs to be calculated based on the magnetic force expression, the dynamic model, and the spatial magnetic potential model to obtain the physical model of the equivalent stiffness coefficient.

[0036] In one implementation, the step of calculating the correspondence between the equivalent stiffness coefficient and the magnetic load of the magnetic rotor based on the magnetic force expression, the dynamic model, and the spatial magnetomotive force model to obtain the physical model of the equivalent stiffness coefficient includes: Based on the magnetic force expression, combined with the magnetic field distribution characteristics and load state during the operation of the magnetic rotor, the magnetic force distribution per unit area is calculated; based on the magnetic force distribution per unit area and the dynamic model, the displacement response of the magnetic rotor under torque drive is analyzed to obtain the functional relationship between displacement and magnetic force; based on the functional relationship and the definition of stiffness, the equivalent stiffness coefficient is calculated; based on the equivalent stiffness coefficient and the spatial magnetomotive force model, the model is reorganized and modeled to obtain the physical model of the equivalent stiffness coefficient. The calculation process of the physical model of the equivalent stiffness coefficient is expressed by the following formula: in, For air gap magnetic flux density, This refers to the axial length of the external rotor permanent magnet. The diameter of the outer rotor permanent magnet is [missing information]. This is the distance from the center of the permanent magnet to the central axis of the rotor. This is the equivalent stiffness coefficient. Indicates the rotor angle. For the direction of current in The angle between the projection on the plane and the axis. This represents the angle between the direction of the magnetic flux density and the direction of the normal to the surface of the permanent magnet.

[0037] It should be noted that the equivalent stiffness coefficient physical model is a key model for describing the relationship between the stiffness characteristics and magnetic field distribution of a magnetic rotor under magnetic load. This method constructs an equivalent stiffness coefficient physical model by analyzing the magnetic force distribution and displacement response characteristics of the magnetic rotor during operation, in order to solve the problem of accurately describing the relationship between magnetic force and displacement in permanent magnet drive systems. First, based on the magnetic force expression, combined with the rotor's magnetic field distribution characteristics and load state, the magnetic force distribution per unit area is calculated, thus reflecting the spatial variation characteristics of the magnetic field force. Then, combined with the dynamic model, the displacement response generated by the rotor under torque drive is analyzed, and a functional relationship between displacement and magnetic force is established. Based on the definition of stiffness, the equivalent stiffness coefficient is calculated by differentiating the functional relationship, reflecting the elastic response characteristics of the rotor under different magnetic loads. Finally, the equivalent stiffness coefficient is combined with the spatial magnetomotive force model to organize and establish the equivalent stiffness coefficient physical model, which can comprehensively describe the relationship between the equivalent stiffness coefficient and the magnetic field, torque, and structural parameters. The physical model of equivalent stiffness coefficient provides a theoretical basis for further optimizing the design and performance of permanent magnet drive, and effectively realizes the quantification of stiffness for torque-driven effective magnetomotive force calculation.

[0038] In step S16, a model needs to be built based on the torque-driven magnetomotive force expression and the physical model of the equivalent stiffness coefficient to obtain a mathematical model of the torque-driven effective magnetomotive force.

[0039] In one implementation, the step of modeling based on the torque-driven magnetomotive force expression and the equivalent stiffness coefficient physical model to obtain a mathematical model of the torque-driven effective magnetomotive force includes: Based on the torque-driven magnetomotive force expression and the equivalent stiffness coefficient physical model, a mathematical model of the torque-driven effective magnetomotive force is obtained by combining analytical derivation and numerical calculation. The calculation process of the effective magnetomotive force mathematical model driven by torque is expressed by the following formula: in, Indicates the effective magnetomotive force driven by torque. Indicates the equivalent stiffness coefficient. A function describing the magnetic flux density and magnetic field strength of a permanent magnet. Indicates the rotor angle. This refers to the axial length of the external rotor permanent magnet. The diameter of the outer rotor permanent magnet is [missing information]. This is the distance from the center of the permanent magnet to the central axis of the rotor. For the direction of current in The angle between the projection on the plane and the axis. This represents the remanent magnetic flux density of a permanent magnet. The angle between the center of the permanent magnet and the vertical direction. The air gap magnetic field strength, It is half the axial thickness of the permanent magnet.

[0040] To facilitate understanding of the present invention, some preferred embodiments of the present invention will be described in further detail below.

[0041] The following describes the working process of this invention using a common scenario as an example. Please also refer to... Figure 2 , it is Figure 1 A schematic diagram of the working scenario of the method.

[0042] Permanent magnet drive systems are used in the drive systems of industrial equipment to transmit and regulate mechanical energy. A permanent magnet drive system consists of a main drive unit, a permanent magnet drive unit, and a load device. It requires precise torque transmission under different operating conditions, while simultaneously optimizing equipment performance by calculating the effective magnetomotive force (MMF) of the torque drive. In this system, the method of this invention is used to calculate the effective MMF of the drive unit's torque drive in real time, thereby achieving precise control.

[0043] The process begins with obtaining the basic information of the permanent magnet drive and its transmission torque. This involves acquiring the drive's structural parameters, the relative positions and velocities between the input and output sides, the load condition, the input rotational speed, and the input torque. A transmission torque characteristic analysis is then performed to determine the final transmission torque. This basic information and transmission torque serve as the initial inputs for the calculations, providing a comprehensive physical foundation and boundary conditions for subsequent steps.

[0044] After acquiring the data, the modeling phase begins. First, based on the actual transmission torque and basic information, a dynamic model is established by analyzing the dynamic relationship between the input and output sides during the transmission process. In this process, combining the torque distribution and variation patterns under different load conditions, a set of dynamic differential equations reflecting the dynamic characteristics of the equipment is derived. Subsequently, dynamic characteristic analysis is performed based on the set of dynamic differential equations to obtain a dynamic model that accurately describes the dynamic behavior during torque transmission. Then, using magnetic circuit theory combined with finite element analysis, the magnetic flux density distribution on the surface of the permanent magnet drive poles and in their gap region is calculated in detail to construct a spatial magnetomotive force model. This spatial magnetomotive force model comprehensively describes the magnetomotive force distribution characteristics of the permanent magnet drive during operation through a comprehensive analysis of the magnetic field distribution characteristics, magnetic pole interaction effects, and magnetic flux density within the working area.

[0045] Next, based on the dynamic model, the spatial magnetomotive force model, and the acquired basic information, the magnetic flux density distribution on the surface of the permanent magnet drive rotor, the magnetic force expression of the permanent magnet drive acting on the rotor, and the torque-driven magnetomotive force expression are calculated. In this step, the dynamic behavior of the rotor is analyzed through the dynamic model to obtain the magnetic force distribution characteristics, and then the magnetic flux density distribution on the rotor surface is calculated to obtain the magnetic flux density distribution. Then, the magnetic force expression of the permanent magnet drive acting on the rotor is obtained through physical derivation based on the magnetic flux density distribution. At the same time, the spatial magnetomotive force model, combined with magnetomotive force theory and torque-driven effect, describes the distribution law of the magnetic field in the working area, and then calculates the torque-driven magnetomotive force expression. The magnetic flux density distribution, the magnetic force expression, and the torque-driven magnetomotive force expression are the basis for subsequent calculations and directly reflect the effect of the magnetic field on the torque.

[0046] Then, the physical model for calculating the equivalent stiffness coefficient was further derived. By combining the magnetic force expression with the dynamic model, the relationship between magnetic force and rotor displacement was analyzed, and the equivalent stiffness coefficient was derived through functional relationships. During the calculation process, the stiffness coefficient was dynamically adjusted according to changes in the magnetic field and structural parameters, ultimately establishing a mathematical relationship model between the equivalent stiffness coefficient and the magnetic load. Subsequently, the equivalent stiffness coefficient was combined with the spatial magnetomotive force model, and the model was refined to obtain the physical model of the equivalent stiffness coefficient, providing an accurate basis for the final calculation of the effective magnetomotive force.

[0047] Finally, based on the torque-driven magnetomotive force expression and the physical model of the equivalent stiffness coefficient, a mathematical model of the effective magnetomotive force of the permanent magnet drive is obtained. This mathematical model directly reflects the magnetic force distribution of the equipment under current operating conditions and its driving effect on torque, thus providing a precise theoretical basis for optimized operation. In this scenario, the real-time calculated effective magnetomotive force can be used to adjust the operating state of the equipment, such as optimizing the output speed of the main drive, adjusting the operating parameters of the load equipment, or dynamically changing the working mode of the drive to adapt to different operating requirements.

[0048] In summary, this invention discloses a method for designing the effective magnetomotive force (MMF) for torque drive of a permanent magnet drive, comprising: acquiring basic information and transmission torque of the permanent magnet drive; calculating and modeling torque transmission based on the transmission torque and the basic information to obtain a dynamic model and a spatial MMF model; calculating magnetic flux density and torque drive based on the dynamic model, the spatial MMF model, and the basic information to obtain expressions for magnetic flux density and torque drive MMF on the surface of the permanent magnet drive rotor; deriving the magnetic force expression of the permanent magnet drive acting on the rotor based on the magnetic flux density expression; calculating the correspondence between the equivalent stiffness coefficient and the magnetic load of the rotor based on the magnetic force expression, the dynamic model, and the spatial MMF model to obtain a physical model of the equivalent stiffness coefficient; and modeling based on the torque drive MMF expression and the physical model of the equivalent stiffness coefficient to obtain a mathematical model of the effective magnetomotive force (MMF) for torque drive.

[0049] This invention, through a systematic calculation and modeling process, directly derives the effective magnetomotive force mathematical model for the torque drive of a permanent magnet drive from various physical quantities within the drive unit. First, by acquiring the basic information and transmission torque of the permanent magnet drive, the operating state and external load conditions of the drive are comprehensively described. This basic information includes the structural parameters of the permanent magnet drive, the relative positions of the input and output sides, the relative speeds of the input and output sides, the load state, the input rotational speed, and the input torque. Based on this basic information, transmission torque characteristic analysis is performed, resulting in the transmission torque characteristic curve of the permanent magnet drive. Further analysis yields the transmission torque of the drive. Based on the transmission torque and the basic information, dynamic characteristics and magnetic circuit theory are used for analysis, establishing a dynamic model and a spatial magnetomotive force model. Subsequently, based on the dynamic model and the spatial magnetomotive force model, the magnetic flux density distribution characteristics on the surface of the permanent magnet drive rotor are calculated, and the magnetic flux density expression is derived. Combining the magnetic field distribution law and the torque drive effect, the torque drive magnetomotive force expression is obtained. Through the physical derivation of the magnetic flux density, the magnetic force expression of the permanent magnet drive acting on the magnetic rotor is further derived. Then, combining the magnetic force expression and the dynamic model, by analyzing the characteristics of the magnetic rotor displacement response under torque drive, the design method of the equivalent stiffness coefficient is derived, and integrated with the spatial magnetomotive force model to construct the equivalent stiffness coefficient physical model. Finally, based on the torque drive magnetomotive force expression and the equivalent stiffness coefficient physical model, this invention performs physical derivation and establishes a model to obtain the torque drive effective magnetomotive force mathematical model. Through the above derivation process, this invention not only breaks away from the high dependence of existing technologies on finite element simulation and experimental measurement, but also, through a systematic calculation and modeling process, directly derives the effective magnetomotive force mathematical model of the torque drive of the permanent magnet drive from the various physical quantities inside the drive, thereby realizing the ability to directly derive the effective magnetomotive force from the physical quantities inside the drive, providing a scientific basis for the design and performance optimization of permanent magnet drive.

[0050] Reference Figure 2 The second embodiment of the present invention provides a torque-driven effective magnetomotive force calculation system for a permanent magnet drive, comprising: The data acquisition module is used to acquire basic information about the permanent magnet drive and its transmission torque. The preliminary modeling module is used to perform torque transmission calculation and modeling based on the transmission torque and the basic information to obtain the dynamic model and the spatial magnetomotive force model. The model analysis module is used to perform magnetic flux density and torque drive calculations based on the dynamic model, the spatial magnetomotive force model and the basic information, and to obtain the magnetic flux density expression and torque drive magnetomotive force expression on the surface of the permanent magnet magnetic drive rotor. The magnetic force derivation module is used to perform physical derivation based on the magnetic flux density expression to obtain the magnetic force expression of the permanent magnet magnetic force transmission device acting on the magnetic rotor; The stiffness analysis module is used to calculate the correspondence between the equivalent stiffness coefficient and the magnetic load of the magnetic rotor based on the magnetic force expression, the dynamic model and the spatial magnetomotive force model, and to obtain the physical model of the equivalent stiffness coefficient. The result output module is used to perform modeling based on the torque-driven magnetomotive force expression and the equivalent stiffness coefficient physical model to obtain a mathematical model of the torque-driven effective magnetomotive force.

[0051] It should be noted that the torque-driven effective magnetomotive force calculation system for a permanent magnet drive provided in this embodiment of the invention is used to execute all the process steps of the torque-driven effective magnetomotive force design method for a permanent magnet drive in the above embodiment. The working principles and beneficial effects of the two are one-to-one, so they will not be described again.

[0052] This invention also provides an electronic device. The electronic device includes a processor, a memory, and a computer program stored in the memory and executable on the processor, such as a torque-driven effective magnetomotive force calculation program for a permanent magnet drive. When the processor executes the computer program, it implements the steps in the above-described embodiments of the torque-driven effective magnetomotive force design method for permanent magnet drives, for example... Figure 1 The step S11 shown. Alternatively, when the processor executes the computer program, it implements the functions of each module / unit in the above-described device embodiments, such as the stiffness analysis module.

[0053] For example, the computer program may be divided into one or more modules / units, which are stored in the memory and executed by the processor to complete the present invention. The one or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in the electronic device.

[0054] The electronic device may be a desktop computer, laptop, handheld computer, or smart tablet, etc. The electronic device may include, but is not limited to, a processor and memory. Those skilled in the art will understand that the above components are merely examples of electronic devices and do not constitute a limitation on the electronic device. It may include more or fewer components than described above, or combine certain components, or different components. For example, the electronic device may also include input / output devices, network access devices, buses, etc.

[0055] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the electronic device, connecting all parts of the electronic device via various interfaces and lines.

[0056] The memory can be used to store the computer programs and / or modules. The processor implements various functions of the electronic device by running or executing the computer programs and / or modules stored in the memory and by calling data stored in the memory. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the mobile phone (such as audio data, phonebook, etc.). In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0057] Wherein, if the modules / units integrated in the electronic device are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0058] It should be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Furthermore, in the accompanying drawings of the device embodiments provided by this invention, the connection relationships between modules indicate that they have communication connections, which can be specifically implemented as one or more communication buses or signal lines. Those skilled in the art can understand and implement this without any creative effort.

[0059] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A method for designing the effective magnetomotive force for torque drive of a permanent magnet drive, characterized in that, Executed by a computer, including: Obtain basic information about the permanent magnet drive and its transmission torque; Based on the transmission torque and the basic information, torque transmission calculation and modeling are performed to obtain the dynamic model and the spatial magnetomotive force model; Based on the dynamic model, the spatial magnetomotive force model and the basic information, magnetic flux density and torque drive calculations are performed to obtain the magnetic flux density expression and torque drive magnetomotive force expression on the surface of the permanent magnet magnetic drive rotor. Based on the magnetic flux density expression, a physical derivation is performed to obtain the magnetic force expression of the permanent magnet magnetic drive acting on the magnetic rotor; Based on the magnetic force expression, the dynamic model, and the spatial magnetic potential model, the correspondence between the equivalent stiffness coefficient and the magnetic load of the magnetic rotor is calculated to obtain the physical model of the equivalent stiffness coefficient. Based on the torque-driven magnetomotive force expression and the physical model of the equivalent stiffness coefficient, a mathematical model of the torque-driven effective magnetomotive force is obtained.

2. The method for designing the effective magnetomotive force of a permanent magnet drive according to claim 1, characterized in that, The acquisition of basic information about the permanent magnet drive and its transmission torque includes: Obtain the structural parameters of the permanent magnet drive, the relative position between the input and output sides of the permanent magnet drive, the relative speed between the input and output sides of the permanent magnet drive, the load state of the permanent magnet drive, the input side speed of the permanent magnet drive, and the input side torque of the permanent magnet drive; The basic information defining a permanent magnet drive includes the structural parameters, relative position, relative speed, load state, input-side rotational speed, and input-side torque. Based on the aforementioned basic information, a transmission torque characteristic analysis is performed to obtain the transmission torque characteristic curve of the permanent magnet drive. Based on the transmission torque characteristic curve and the load state, the transmission torque of the permanent magnet drive is obtained through analysis.

3. The method for designing the effective magnetomotive force of a permanent magnet drive according to claim 1, characterized in that, The process of calculating and modeling torque transmission based on the transmission torque and the basic information to obtain a dynamic model and a spatial magnetomotive force model includes: Based on the transmission torque, the torque distribution and torque variation law under different load conditions are analyzed to obtain a set of dynamic differential equations reflecting the dynamic relationship between the input side and the output side; Based on the aforementioned set of dynamic differential equations and the aforementioned basic information, dynamic characteristic analysis is performed to obtain a dynamic model; Based on the transmission torque and the basic information, magnetic circuit theory and finite element analysis are used to calculate the magnetic flux density distribution on the magnetic pole surface and in the gap region, and a spatial magnetic potential model is obtained. The calculation process of the dynamic model is represented by the following formula: The calculation process of the space magnetic potential model is represented by the following formula: in, This represents the magnetic force acting on the magnetic rotor of the permanent magnet drive. Indicates the mass of the magnetic rotor. This is the equivalent stiffness coefficient; Indicates load torque. Indicates the rotor angular velocity. Indicates the rotor angle. For air gap magnetic flux density, This refers to the axial length of the external rotor permanent magnet. The diameter of the outer rotor permanent magnet is [missing information]. This is the distance from the center of the permanent magnet to the central axis of the rotor. For the direction of current in The angle between the projection onto the plane and the axis; This represents the spatial magnetomotive force of a permanent magnet drive. This represents the remanent magnetic flux density of a permanent magnet. Indicates coercivity, The angle between the center of the permanent magnet and the vertical direction. and These are the Bessel function and the modified Bessel function, respectively. The air gap magnetic field strength, It is half the axial thickness of the permanent magnet.

4. The method for designing the effective magnetomotive force of a permanent magnet drive according to claim 1, characterized in that, The process involves calculating magnetic flux density and torque drive based on the dynamic model, the spatial magnetomotive force model, and the basic information, to obtain expressions for the magnetic flux density and torque drive magnetomotive force on the surface of the permanent magnet drive rotor, including: Based on the aforementioned dynamic model, the rotor dynamic behavior analysis was performed to obtain the magnetic force distribution characteristics; Based on the magnetic force distribution characteristics and the basic information, the magnetic flux density distribution on the rotor surface is calculated to obtain the expression for the magnetic flux density on the surface of the permanent magnet magnetic drive rotor. Based on the spatial magnetomotive force model, the magnetic field distribution law of the permanent magnet in the working area of ​​the permanent magnet magnetic force transmission is analyzed by combining magnetomotive force theory with torque driving effect, and the torque driving magnetomotive force expression is obtained. The calculation process for the magnetic flux density on the surface of the permanent magnet magnetic drive rotor is expressed by the following formula: The calculation process of the torque-driven magnetomotive force expression is represented by the following formula: in, For air gap magnetic flux density, This refers to the axial length of the external rotor permanent magnet. The diameter of the outer rotor permanent magnet is [missing information]. This is the distance from the center of the permanent magnet to the central axis of the rotor. This is the equivalent stiffness coefficient. Indicates the rotor angle. For the direction of current in The angle between the projection on the plane and the axis. This represents the remanent magnetic flux density of a permanent magnet. The angle between the center of the permanent magnet and the vertical direction. and These are the Bessel function and the modified Bessel function, respectively. The air gap magnetic field strength, It is half the axial thickness of the permanent magnet; It represents magnetic flux density, which is the magnetic flux per unit area on the surface of the magnetic rotor of a permanent magnet drive. This refers to the torque-driven magnetomotive force, which is the torque generated by the magnetomotive force of the rotor driven by the permanent magnet drive.

5. The method for designing the effective magnetomotive force for torque drive of a permanent magnet drive according to claim 1, characterized in that, The step of deriving the magnetic force expression of the permanent magnet drive acting on the magnetic rotor based on the magnetic flux density expression includes: Based on the magnetic flux density expression, and combined with the relationship between magnetic force and magnetic flux density gradient, gradient calculation is performed to obtain the preliminary magnetic force expression of the permanent magnet magnetic drive acting on the magnetic rotor. Based on the preliminary magnetic force expression, and combined with the law of the magnetic field's effect on the rotor, the expression is simplified to obtain the magnetic force expression of the permanent magnet magnetic drive acting on the magnetic rotor. The calculation process of the magnetic force expression is represented by the following formula: in, Indicates magnetic force. For air gap magnetic flux density, This refers to the axial length of the external rotor permanent magnet. The diameter of the outer rotor permanent magnet is [missing information]. This is the distance from the center of the permanent magnet to the central axis of the rotor. This is the equivalent stiffness coefficient. Indicates the rotor angle. For the direction of current in The angle between the projection on the plane and the axis. This represents the angle between the direction of the magnetic flux density and the direction of the normal to the surface of the permanent magnet.

6. The method for designing the effective magnetomotive force for torque drive of a permanent magnet drive according to claim 1, characterized in that, The step of calculating the correspondence between the equivalent stiffness coefficient and the magnetic load of the magnetic rotor based on the magnetic force expression, the dynamic model, and the spatial magnetomotive force model, to obtain the physical model of the equivalent stiffness coefficient, includes: Based on the magnetic force expression, combined with the magnetic field distribution characteristics and load state during the operation of the magnetic rotor, the magnetic force distribution per unit area is calculated. Based on the magnetic force distribution per unit area and the dynamic model, the displacement response of the magnetic rotor under torque drive is analyzed to obtain the functional relationship between displacement and magnetic force. Based on the aforementioned functional relationship and the definition of stiffness, the equivalent stiffness coefficient is calculated. Based on the equivalent stiffness coefficient and the spatial magnetic potential model, the model is organized and modeled to obtain the physical model of the equivalent stiffness coefficient. The calculation process of the physical model of the equivalent stiffness coefficient is expressed by the following formula: in, For air gap magnetic flux density, This refers to the axial length of the external rotor permanent magnet. The diameter of the outer rotor permanent magnet is [missing information]. This is the distance from the center of the permanent magnet to the central axis of the rotor. This is the equivalent stiffness coefficient. Indicates the rotor angle. For the direction of current in The angle between the projection on the plane and the axis. This represents the angle between the direction of the magnetic flux density and the direction of the normal to the surface of the permanent magnet.

7. The method for designing the effective magnetomotive force of a permanent magnet drive according to claim 1, characterized in that, The process of modeling based on the torque-driven magnetomotive force expression and the equivalent stiffness coefficient physical model to obtain a mathematical model of the torque-driven effective magnetomotive force includes: Based on the torque-driven magnetomotive force expression and the equivalent stiffness coefficient physical model, a mathematical model of the torque-driven effective magnetomotive force is obtained by combining analytical derivation and numerical calculation. The calculation process of the effective magnetomotive force mathematical model driven by torque is expressed by the following formula: in, Indicates the effective magnetomotive force driven by torque. Indicates the equivalent stiffness coefficient. A function describing the magnetic flux density and magnetic field strength of a permanent magnet. Indicates the rotor angle. This refers to the axial length of the external rotor permanent magnet. The diameter of the outer rotor permanent magnet is [missing information]. This is the distance from the center of the permanent magnet to the central axis of the rotor. For the direction of current in The angle between the projection on the plane and the axis. This represents the remanent magnetic flux density of a permanent magnet. The angle between the center of the permanent magnet and the vertical direction. The air gap magnetic field strength, It is half the axial thickness of the permanent magnet.

8. A torque-driven effective magnetomotive force calculation system for a permanent magnet drive, characterized in that, include: The data acquisition module is used to acquire basic information about the permanent magnet drive and its transmission torque. The preliminary modeling module is used to perform torque transmission calculation and modeling based on the transmission torque and the basic information to obtain the dynamic model and the spatial magnetomotive force model. The model analysis module is used to perform magnetic flux density and torque drive calculations based on the dynamic model, the spatial magnetomotive force model and the basic information, and to obtain the magnetic flux density expression and torque drive magnetomotive force expression on the surface of the permanent magnet magnetic drive rotor. The magnetic force derivation module is used to perform physical derivation based on the magnetic flux density expression to obtain the magnetic force expression of the permanent magnet magnetic force transmission device acting on the magnetic rotor; The stiffness analysis module is used to calculate the correspondence between the equivalent stiffness coefficient and the magnetic load of the magnetic rotor based on the magnetic force expression, the dynamic model and the spatial magnetomotive force model, and to obtain the physical model of the equivalent stiffness coefficient. The result output module is used to perform modeling based on the torque-driven magnetomotive force expression and the equivalent stiffness coefficient physical model to obtain a mathematical model of the torque-driven effective magnetomotive force.

9. An electronic device, characterized in that, The device includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor, when executing the computer program, implements the torque-driven effective magnetomotive force design method for a permanent magnet drive as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program, wherein, when the computer program is executed, it controls the device containing the computer-readable storage medium to perform the torque-driven effective magnetomotive force design method for a permanent magnet drive as described in any one of claims 1 to 7.

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