Halbach array-based single-side oblique thrust repulsion magnetic levitation dynamic device

Abstract

The application relates to the technical field of magnetic suspension driving and discloses a single-side oblique thrust repulsion magnetic suspension dynamic device based on a Halbach array, which comprises a magnetic field generating module and a magnetic field responding module which are oppositely arranged and form a magnetic suspension working gap, and the two form a magnetic repulsion relationship of same polarity in the magnetic suspension working gap. A Halbach array group is composed of at least three magnetic units, each magnetic unit is arranged according to a phase progressive magnetization angle sequence, and under the premise of keeping the relative phase progressive relationship unchanged, the whole is integrally superposed with a bias rotation angle and / or adopts a non-uniform and asymmetric geometric size distribution, so that a single-side enhanced magnetic field distribution is formed on a working side, a back-to-back closed magnetic field distribution is formed on a back side, and an inclined synthetic magnetic pressure distribution is formed in the magnetic suspension working gap; the synthetic magnetic pressure distribution is decomposed into a normal suspension force component and a tangential driving force component, so as to realize non-contact support and intrinsic oblique thrust output. The device is suitable for linear, annular and curved surface topological expansion.

Description

Technical Field

[0001] This invention relates to the field of magnetic levitation drive technology, and specifically to a single-sided oblique thrust repulsion magnetic levitation power device based on a Halbach array. Background Technology

[0002] Traditional Halbach arrays and symmetrical magnetic pole structures employing alternating magnetic pole SNSN topology, such as the IPM-SynRM structure, still have room for further improvement in certain application scenarios for non-contact dynamic interaction and spatial electromagnetic field organization, mainly in the following aspects:

[0003] I. Polarity Interference and Utilization Issues. Due to the periodic polarity distribution of the SNSN structure, magnetic leakage and polarity interference are prone to occur between adjacent magnetic poles, thus affecting the utilization rate of magnetic flux on the working side. In scenarios where force vector decomposition output is required, the degree of freedom of control is still insufficient when relying solely on the existing structural form.

[0004] II. Problems with the allocation of mechanical vectors. Due to the relatively symmetrical physical configuration, the normal support force and the tangential driving force are easily coupled in the same field space. In working conditions where suspension and driving need to be adjusted separately, there is a problem of insufficient flexibility in the allocation of power.

[0005] III. Gap Response Issues. Existing flux focusing modes are relatively fixed, and the response of thrust to gap changes is relatively smooth under some narrow gap conditions; however, there is still room for improvement for applications requiring higher local magnetic pressure gradients or higher dynamic density.

[0006] IV. Stability under dynamic operating conditions. Eddy current losses and thermal effects may occur in the electromagnetic actuator during high-speed switching, thus affecting the magnetic circuit modulation accuracy and operational stability.

[0007] V. Geometric Topology Adaptation Issues. Traditional array configurations are strongly correlated with existing physical contours. When extending to two-dimensional planes or three-dimensional curved surfaces, the continuity and uniformity of the force field distribution may be affected.

[0008] Citation of relevant technical theories and mechanistic basis

[0009] The classical magnetization structure and unilateral enhanced magnetic field characteristics of Halbach arrays described in this art have been documented in published literature. For example: K. Halbach, “Design of Permanent Multipole Magnets with Oriented RareEarth Cobalt Material,” *Nuclear Instruments and Methods*, Vol. 169, 1980, pp. 1-10; Peter Blümler and Helmut Soltner, “Practical Concepts for Design, Construction and Application of Halbach Magnets in Magnetic Resonance,” *Applied Magnetic Resonance*, Vol. 54, 2023, pp. 1701-1739. The aforementioned published literature and related magnetic theories indicate that the unilateral enhanced magnetic field characteristics of Halbach arrays are based on a relatively progressive structure in the magnetization direction. This provides a theoretical basis for the present invention to achieve force vector control by introducing an overall bias rotation angle while maintaining the relative phase progression relationship between adjacent magnetic units.

[0010] Furthermore, relevant published research indicates that variations in the magnetization angle configuration of a magnetic array can influence the spatial organization of the magnetic flux on the working side, causing it to shift from a relatively flat distribution to a more compact, localized distribution. Building upon this, the present invention, while maintaining the relative phase progression relationship between adjacent magnetic units, introduces an overall bias rotation angle and combines it with a non-uniform, asymmetric geometric configuration. This allows the magnetic flux on the working side to be further concentrated and guided towards a predetermined work area, in addition to unilateral guidance, thereby forming a magnetic field organization adapted to the intrinsic oblique thrust output. Summary of the Invention

[0011] (a) Technical problems to be solved

[0012] Given that existing technologies still have room for improvement in areas such as force vector adjustment, non-contact support and directional drive coordination, and multi-dimensional topology adaptation, this invention aims to provide a single-sided oblique thrust repulsion magnetic levitation power device based on a Halbach array.

[0013] (II) Technical Solution

[0014] To achieve the above objectives, the present invention provides a single-sided oblique thrust repulsion magnetic levitation power device based on a Halbach array group, which includes a magnetic field generating module and a magnetic field response module, wherein the magnetic field generating module and the magnetic field response module are arranged opposite to each other and form a magnetic levitation working gap therebetween.

[0015] The device is configured such that the magnetic field generating module and the magnetic field response module are in a magnetic repulsion state with their poles opposite each other in the magnetic levitation working gap.

[0016] The magnetic field generating module and / or the magnetic field response module includes a Halbach array group, which is composed of at least three magnetic units arranged sequentially along the array arrangement direction. In a preferred embodiment, the Halbach array group consists of four magnetic units, with at least two local closed-loop magnetic flux relationships formed between adjacent magnetic units, and these at least two local closed-loop magnetic flux relationships are mutually synergistic. In another embodiment, the Halbach array group consists of three magnetic units, which respectively correspond to a second, third, and fourth magnetic unit arranged sequentially along the array arrangement direction; wherein, a local closed-loop magnetic flux relationship is formed between the second and third magnetic units, and another local closed-loop magnetic flux relationship is formed between the third and fourth magnetic units, and these two local closed-loop magnetic flux relationships are mutually synergistic. By configuring the magnetization angle sequence and / or geometric size distribution of each magnetic unit, the Halbach array group forms a unilateral enhanced magnetic field distribution on the working side and a closed loop magnetic field distribution on the reverse side, and forms a composite magnetic pressure distribution inclined relative to the normal direction of the magnetic levitation working gap within the gap; the composite magnetic pressure distribution is decomposed into a normal levitation force component and a tangential driving force component, thereby achieving non-contact support and intrinsic oblique thrust output. Specifically, the Halbach array group can adopt the following configuration:

[0017] 1. Each of the magnetic units is distributed in a non-uniform, asymmetrical geometric size along the array arrangement direction, and each of the magnetization directions is sequentially rotated according to a preset phase-progressive magnetization angle sequence. While maintaining the relative phase progression relationship between adjacent magnetic units, the entire magnetization angle sequence is superimposed with a preset offset rotation angle. ;

[0018] 2. Each of the magnetic units has a non-uniform, asymmetrical geometric size distribution along the array arrangement direction, maintaining the relative phase progression relationship between adjacent magnetic units without superimposing the overall bias rotation angle. Under these conditions, the difference in geometric dimensions triggers a local redistribution of magnetic flux, thereby forming an inclined synthetic magnetic pressure distribution within the magnetic levitation working gap;

[0019] 3. Each of the magnetic units is of nearly equal size, and each of the magnetization directions is arranged in a sequentially rotating configuration according to a preset phase-progressive magnetization angle sequence. While maintaining the relative phase progression relationship between adjacent magnetic units, the entire magnetization angle sequence is superimposed with a preset offset rotation angle. .

[0020] Furthermore, the Halbach array group can be implemented using an electromagnet array group, a permanent magnet array group, or a hybrid integrated permanent magnet-electromagnet implementation. In the electromagnet array group implementation, the electromagnet array group generates a controlled spatial magnetic field by applying an excitation current to modulate the normal levitation force component and / or the tangential driving force component. In the permanent magnet array group implementation, the permanent magnet array group provides the normal levitation force component and the tangential driving force component under conditions without continuous excitation current. In the hybrid integrated permanent magnet-electromagnet implementation, the permanent magnet array group provides the basic intrinsic oblique thrust magnetic field, and the electromagnet array group generates a controlled compensation magnetic field to achieve adjustment of the levitation height, tangential driving force, and output conditions.

[0021] Multiple Halbach array groups can also be arranged in the horizontal and / or vertical directions to form a two-dimensional planar array or a three-dimensional curved surface array; the preset offset rotation angle Δθ between each Halbach array group can be symmetrically or asymmetrically mirrored to form a multi-dimensional non-contact support and directional power output network.

[0022] (III) Beneficial Effects

[0023] Compared with the prior art, the present invention has at least the following beneficial effects:

[0024] 1. By setting a preset offset rotation angle Collaborative design with non-uniform and asymmetric geometric size distribution, or relying on the preset offset rotation angle under near-equal size conditions. This allows for the formation of an inclined, unilateral enhanced magnetic field distribution and a corresponding synthetic magnetic pressure distribution within the working gap of the magnetic levitation system. The normal levitation force component and the tangential driving force component are then decomposed, which is beneficial for achieving non-contact support and directional power output under the same polarity magnetic repulsion ground state.

[0025] 2. By forming a slope peak enhancement region and its peak offset effect on the working side, a higher local magnetic pressure gradient can be formed under the condition of a small magnetic levitation working gap, and corresponding gap-mechanical response characteristics can be formed within the preset magnetic levitation working gap range.

[0026] 3. Under near-equal size conditions, by superimposing a preset offset rotation angle This can generate intrinsic oblique thrust output, providing a feasible implementation method for simplifying the manufacturing process.

[0027] 4. Through the composite design of the electromagnet array group and the conductive frame, the suspension stiffness and driving force components can be modulated while suppressing high-frequency eddy current losses, which is beneficial for the support device to operate under multiple working conditions such as high-speed drive, precise suspension and energy recovery.

[0028] 5. Supports multiple array group arrangements, which is beneficial for adapting to different dynamic requirements from one-dimensional straight lines to three-dimensional curved surfaces.

[0029] 6. By using the partitioned modulation of the electromagnet array group, it is possible to support the switching between driving and inductive recovery operating conditions, thereby improving the overall system efficiency.

[0030] 7. The integrated solid-state conductive skeleton structure and / or permanent magnet array group are easy to manufacture using integrated molding, segmented magnetization or modular splicing and curing processes, thereby reducing assembly interfaces and improving processing consistency and engineering implementation efficiency. Attached Figure Description

[0031] Figure 1 The diagram shows the magnetic unit structure of a single-sided oblique thrust Halbach array group, the peak magnetic flux focusing on the working side, and the back loop magnetic field lines. A is a schematic diagram of the basic Halbach array group structure, and B is a schematic diagram of the peak magnetic flux focusing on the working side and the back loop magnetic field lines.

[0032] Figure 2 The diagram shows the layout of the electrical connection terminals, the organization of the current direction, and the switching of the operating conditions of the electromagnet array group. A is a schematic diagram of the layout of the electrical connection terminal group and the auxiliary current direction markings. B is a schematic diagram of the distribution of the single-sided enhanced magnetic field and the equivalent direction of the oblique thrust under the original working state. C is a schematic diagram of the mirror flip of the distribution of the single-sided enhanced magnetic field under the overall reverse current state.

[0033] Figure 3 This is a schematic diagram of the oblique thrust formation mechanism of a Halbach array with single-sided oblique thrust. A is a schematic diagram of oblique thrust under non-uniform and asymmetric geometric size distribution, and B is a schematic diagram of oblique thrust under uniform overall offset rotation angle.

[0034] Figure 4 This is a schematic diagram of the working gap of the magnetic levitation with repulsion between the upper and lower poles formed by the Halbach array group with unilateral oblique thrust and the expansion of the linear continuous array. A is a schematic diagram of the working gap of the magnetic levitation with repulsion between the upper and lower poles formed by the array group, and B is a schematic diagram of the expansion of the linear continuous array.

[0035] Figure 5 This is a schematic diagram showing the relationship between the repulsion gap and the repulsion force ratio under the condition that permanent magnets of the same size repel each other with the same poles.

[0036] Figure 6This is a schematic diagram of the configuration and peak flux focusing of a single-sided oblique thrust Halbach electromagnet array group, where A is a schematic diagram of the inner electromagnet array group structure and B is a schematic diagram of the outer electromagnet array group structure.

[0037] Figure 7 This is a schematic diagram of the internal cross-section and electrical connection topology of a solid-state integrated conductive skeleton electromagnet array group. A is a schematic diagram of the internal cross-section and airflow heat dissipation path, B is a three-dimensional schematic diagram of the cross-section skeleton structure, C is a schematic diagram of the electrical connection terminal layout of the electromagnet array group without back yoke magnetic slots, and D is a three-dimensional schematic diagram of the complete electromagnetic control module formed by the convergence of electrical connection strips.

[0038] Figure 8 This is a schematic diagram of the closed ring topology and assembly relationship of multiple electromagnet arrays. A is a schematic diagram of the inner electromagnet array ring assembly and outward magnetic field; B is a schematic diagram of the outer electromagnet array ring assembly and inward magnetic field; C is a schematic diagram of the inner and outer bidirectional closed ring assembly and power supply connection; and D is a schematic diagram of the complete structure and magnetic field coupling after assembling the common back yoke slot of the inner and outer sides.

[0039] Figure 9 The diagram shows the configuration of a single-sided oblique thrust Halbach permanent magnet array and the peak magnetic flux focusing. A is a schematic diagram of the inner permanent magnet array structure, B is a schematic diagram of the outer permanent magnet array structure, C is a schematic diagram of the annular assembly and outward magnetic field of the inner permanent magnet array, and D is a schematic diagram of the annular assembly and inward magnetic field of the outer permanent magnet array.

[0040] Figure 10 This is a schematic diagram of a hybrid configuration of permanent magnet and electromagnet and adaptive stepped magnetic field control. In this diagram, A is a schematic diagram of the end face cross-section of the inner ring scaled-down hybrid configuration and the distribution of magnetic lines of force, and B is a three-dimensional schematic diagram of the overall assembly of the hybrid configuration.

[0041] Figure 11 A schematic diagram of the axial magnetic levitation dynamic configuration and energy interaction implementation method;

[0042] Figure 12 This is a schematic diagram of the radial-axial composite magnetic levitation stable topology and three-dimensional assembly structure, where A is a three-dimensional schematic diagram of the radial and axial components of the outer stator, B is a cross-sectional schematic diagram of the outer stator component, and C is a three-dimensional schematic diagram of the radial and axial components of the inner rotor.

[0043] Figure 13 Schematic diagram of a linear configuration dual magnetic levitation working gap push-pull drive system;

[0044] Figure 14 A schematic diagram of a multi-degree-of-freedom spherical magnetic levitation dynamic configuration and omnidirectional attitude control;

[0045] Figure 15This is a schematic diagram of the axial displacement stepless power regulation mechanism and torque decoupling mechanism, where A is a schematic diagram of the static zero position state, B is a schematic diagram of the partially coupled power regulation state, and C is a schematic diagram of the full output state.

[0046] Figure 16 This is a schematic diagram of the magnetic circuit analysis of an existing IPM-SynRM structure using an alternating magnetic pole SNSN topology, where A is a schematic diagram of the local structure and equivalent magnetic circuit distance, and B is a schematic diagram of the magnetic field line distribution of the alternating magnetic pole topology.

[0047] Explanation of reference numerals in the attached figures

[0048] 1. First magnetic unit; 2. Second magnetic unit; 3. Third magnetic unit; 4. Fourth magnetic unit; 5. Electrical connection terminal group, wherein 5-1 is the first electrical connection terminal, 5-2 is the second electrical connection terminal, 5-3 is the third electrical connection terminal, 5-4 is the fourth electrical connection terminal, 5-5 is the fifth electrical connection terminal, 5-6 is the sixth electrical connection terminal, 5-7 is the seventh electrical connection terminal, and 5-8 is the eighth electrical connection terminal; 6. Insulating eddy current suppression pad; 7. Magnetic levitation working gap; 8. Upper single-sided oblique thrust Halbach array group; 9. Lower single-sided oblique thrust Halbach array group; 10. Upper first Halbach array group; 11. Upper second Halbach array group; 12. Upper third Halbach array group. Halbach array group; 13. Upper fourth Halbach array group; 14. Lower first Halbach array group; 15. Lower second Halbach array group; 16. Lower third Halbach array group; 17. Lower fourth Halbach array group; 18. First electromagnet unit; 19. Second electromagnet unit; 20. Third electromagnet unit; 21. Fourth electromagnet unit; 22. Inner common back yoke slot; 23. Outer common back yoke slot; 24. Flat strip conductive bridge structure; 25. S-side electrical connection point; 26. N-side electrical connection point; 27. S-side electrical connection strip; 28. N-side electrical connection strip; 29. ​​Electromagnet array group power connection strip; 30. Annular slip ring structure; 31. 32. Annular magnetic levitation working gap; 33. First permanent magnet unit; 34. Second permanent magnet unit; 35. Third permanent magnet unit; 36. Fourth permanent magnet unit; 37. Inner rotor electromagnet array assembly; 38. Inner rotor permanent magnet array assembly; 39. Outer stator electromagnet array, of which 38-1 is the first outer stator electromagnet array, 38-2 is the second outer stator electromagnet array, 38-3 is the third outer stator electromagnet array, 38-4 is the fourth outer stator electromagnet array, 38-5 is the fifth outer stator electromagnet array, and 38-6 is the sixth outer stator electromagnet array; 30. Outer stator permanent magnet array, of which 39-1 is the first outer stator permanent magnet array, and 39-2 is the second outer stator permanent magnet array. 39-3 is the third permanent magnet array group of the outer stator; 40, axial configuration hybrid rotor electromagnet array group; 41, axial configuration hybrid rotor permanent magnet array group; 42, axial configuration stator electromagnet array group; 43, composite outer stator radial electromagnet array group; 44, composite outer stator radial permanent magnet array group; 45, composite outer stator axial electromagnet array group; 46, composite outer stator axial permanent magnet array group; 47, composite inner rotor radial electromagnet array group; 48, composite inner rotor radial permanent magnet array group; 49, composite inner rotor axial electromagnet array group assembly; 50, composite inner rotor axial permanent magnet array group assembly; 51, upper row linear configuration stator assembly permanent magnet array group; 52, upper row linear configuration stator assembly electromagnet array group.53. Lower row linear stator assembly with permanent magnet array; 54. Lower row linear stator assembly with electromagnet array; 55. Upper row linear mover assembly with permanent magnet array; 56. Lower row linear mover assembly with permanent magnet array; 57. Mover assembly with curved permanent magnet array; 58. Stator with curved electromagnet array; 59. Inner stator with axially adjustable permanent magnet array; 60. Outer rotor with permanent magnet array. Detailed Implementation

[0049] Overview of overall implementation methods and core mechanisms

[0050] This invention provides a single-sided oblique thrust repulsion magnetic levitation power device based on a Halbach array, comprising a magnetic field generating module and a magnetic field response module arranged opposite each other, forming a magnetic levitation working gap between them. The device positions the magnetic levitation working gap in a magnetic repulsion state with like poles facing each other, thereby achieving non-contact support and directional power output.

[0051] The core mechanism of this invention lies in: based on the phase-progressive magnetization angle sequence of the Halbach array, the overall bias rotation angle, and / or the non-uniform and asymmetric geometric size distribution, a unilateral enhanced magnetic field distribution is formed on the working side, and a closed loop magnetic field distribution is formed on the opposing side. An inclined synthetic magnetic pressure distribution is formed within the magnetic levitation working gap, thereby decomposing into a normal levitation force component and a tangential driving force component. The linear configuration, ring configuration, axial configuration, radial-axial composite configuration, spherical configuration, multi-degree-of-freedom attitude control configuration, and power adjustment configuration in the following embodiments are all elaborations based on the above-mentioned basic magnetic circuit organization and force mechanism, according to different application topologies and operating conditions, and do not depart from the basic technical concept of this invention.

[0052] The single-sided enhanced magnetic field distribution referred to in this invention refers to the asymmetric spatial magnetic field distribution formed by the Halbach array, characterized by directional magnetic flux focusing on the working side and forming a closed loop magnetic field distribution on the reverse side; the closed loop magnetic field distribution corresponds to the formation of a return magnetic path, wherein... This represents the magnetic flux density vector, whose physical boundary satisfies the principle of magnetic flux continuity: .

[0053] The intrinsic oblique thrust output referred to in this invention refers to the inherent mechanical characteristic determined by a preset magnetization angle sequence and array geometry. This characteristic manifests as a composite magnetic pressure distribution that is inclined relative to the normal direction of the magnetic levitation working gap, and is decomposed into a normal levitation force component and a tangential driving force component.

[0054] The intrinsic oblique thrust output is the general term for the output mechanical characteristics of this invention; under specific magnetic levitation working gaps or specific relative configurations, the mechanical performance formed by the synthesis of the normal levitation force component and the tangential driving force component can be described as the intrinsic resultant force.

[0055] The present invention uses a preset offset rotation angle to superimpose the entire magnetization angle sequence. This involves the overall modulation of the initial phase of the spatial magnetization distribution of the Halbach array, without altering the relative phase progression between adjacent magnetic units. For a continuous approximation model of the Halbach array, its magnetization vector... The spatial distribution can be characterized as:

[0056] ;in, The magnitude of the magnetization vector. For space wavenumber, These are the spatial coordinates along the array arrangement direction. Corresponding overall offset rotation angle The overall phase deflection represented. Let the original magnetization angle sequence be... The magnetization angle sequence after biasing is Then the phase difference between any two adjacent magnetic units satisfies: ;

[0057] Therefore, the overall offset rotation angle By changing only the overall magnetization direction reference frame without altering the relative phase progression between adjacent magnetic units, the principle of maintaining the unilateral enhanced magnetic field distribution of the classical Halbach array remains applicable.

[0058] The overall bias rotation can cause the distribution of the enhanced magnetic field on one side of the working side to be tilted in an overall orientation relative to the normal direction of the magnetic levitation working gap, thereby making the distribution of the synthetic magnetic pressure on the working side present a preset tilt, and facilitating the synchronous output of the normal levitation force component and the tangential driving force component at the structural level.

[0059] Traditional magnetic focusing structures typically use two sets of magnetic arrays to converge magnetic flux towards a central local area to form a local peak focusing magnetic field, with the core being the central local focusing. This invention, while maintaining the relative phase progression relationship between adjacent magnetic units, utilizes the synergistic effect of the overall bias rotation angle and the non-uniform, asymmetrical geometric configuration to further induce directional deflection, compression, and local re-convergence of the working-side magnetic flux, building upon unilateral guidance. This concentrates the main working magnetic flux towards the relatively interacting magnetic levitation working gap or the local working area.

[0060] Adjacent magnetic units can form local closed-loop magnetic flux relationships. Multiple such local closed-loop magnetic flux relationships are arranged sequentially along the array arrangement direction and cooperate with each other, so that the main working magnetic flux on the working side is concentrated and guided to the local working area for output along a preset direction. Thus, the Halbach array group forms a unilateral enhanced magnetic field distribution on the working side and a closed-loop magnetic field distribution on the opposite side, and establishes the magnetic field organization basis required for the output of intrinsic oblique thrust within the magnetic levitation working gap.

[0061] In embodiments consisting of at least three magnetic units, the Halbach array group can be composed of three magnetic units arranged sequentially along the array arrangement direction. Taking a three-unit embodiment consisting of a second, third, and fourth magnetic unit as an example, a local closed-loop magnetic flux relationship is formed between the second and third magnetic units, and another local closed-loop magnetic flux relationship is formed between the third and fourth magnetic units. The two local closed-loop magnetic flux relationships are arranged sequentially along the array arrangement direction and cooperate with each other, so that the main working magnetic flux on the working side is concentrated and guided to the local working area for output along a preset direction. Thus, in the three-unit embodiment, a unilateral enhanced magnetic field distribution can still be formed on the working side, a closed loop magnetic field distribution can be formed on the opposite side, and an inclined synthetic magnetic pressure distribution can be formed within the magnetic levitation working gap.

[0062] In one exemplary configuration, when the overall offset rotation angle is taken At this time, the relatively flat magnetic flux path on the working side can exhibit oblique turning and local compression trends, causing the main working magnetic flux to further converge towards a smaller area and form a local high-density clustering effect.

[0063] For configurations with a back yoke or magnetically guided structure, the backward magnetic flux can form a closed loop along the back yoke or its adjacent low magnetic reluctance path. For configurations with insulating eddy current suppression pads, the area where the pads are located is a high magnetic reluctance region relative to the magnetically guided structure, thereby limiting the efficient passage of magnetic flux in this region and causing the magnetic flux to tend to form magnetic coupling along the magnetically guided path. Thus, while achieving overall magnetic flux guidance, this invention can further form a local high-density cluster after unilateral guidance, providing a magnetic field organization basis for subsequent intrinsic oblique thrust output, magnetic levitation support, and torque generation.

[0064] Example 1: Single-sided oblique thrust Halbach array

[0065] Basic configuration and intrinsic oblique thrust output mechanism (combined with) Figures 1 to 5 (and Table 1)

[0066] It should be noted that, for ease of explanation, the preferred configuration of four magnetic units is described below as an example embodiment; in another embodiment, the Halbach array group may also consist of three magnetic units. The three magnetic units may correspond to the second magnetic unit 2, the third magnetic unit 3, and the fourth magnetic unit 4 arranged sequentially along the array arrangement direction.

[0067] In this three-unit implementation, each magnetic unit is still arranged in a sequentially rotating configuration according to a preset phase-progressive magnetization angle sequence, while maintaining the relative phase progression relationship between adjacent magnetic units. Figure 3 The example angle sequence of the four units shown in B is used as a reference. When only the second magnetic unit 2, the third magnetic unit 3, and the fourth magnetic unit 4 are retained, their magnetization angles can be respectively as follows: Therefore, the relative phase progression relationship between adjacent magnetic units remains uniform. Step (Modal) In this three-unit implementation, a local closed-loop magnetic flux relationship is formed between the second magnetic unit 2 and the third magnetic unit 3, and another local closed-loop magnetic flux relationship is formed between the third magnetic unit 3 and the fourth magnetic unit 4. These two local closed-loop magnetic flux relationships are arranged sequentially along the array arrangement direction and work together to concentrate and guide the main working magnetic flux on the working side towards a predetermined direction. In this three-unit implementation, the third magnetic unit 3 can serve as the main focusing unit on the working side, and the fourth magnetic unit 4 is used to guide the back magnetic flux loop closure and suppress leakage magnetic flux. Thus, the three-unit array implementation can still form a unilateral enhanced magnetic field distribution on the working side, a closed-loop magnetic field distribution on the back side, and an inclined synthetic magnetic pressure distribution within the magnetic levitation working gap, thereby achieving the decomposition and output of the normal levitation force component and the tangential driving force component.

[0068] (I) Basic Halbach array configuration and single-sided enhanced magnetic field distribution (combined with) Figure 1 )

[0069] like Figure 1 As shown in A, the Halbach array group in this embodiment consists of a first magnetic unit 1, a second magnetic unit 2, a third magnetic unit 3, and a fourth magnetic unit 4 arranged sequentially along the array arrangement direction. The first to fourth magnetic units each have a corresponding magnetization direction, and their magnetization angles are denoted as . , , and The magnetization angles are rotated sequentially according to a preset phase-progressive magnetization angle sequence, which can be a uniform or non-uniform progression sequence.

[0070] In one exemplary implementation, such as Figure 3As shown in B, the preset phase-progressive magnetization angle sequence can be taken as: The above sequence can be considered as implementing an overall bias rotation angle based on the classical Halbach array magnetization structure. An exemplary configuration. The relative phase progression between adjacent magnetic units remains uniform. Step (Modal) The overall deflection does not change the relative phase relationship between adjacent units. Its physical compliance and the principle of maintaining the distribution of the enhanced magnetic field on one side have been explained in the aforementioned "Overview of Overall Implementation Method and Core Mechanism". The angle sequence is only used to illustrate the construction method of the preset phase progressive magnetization angle sequence and the method of determining the orientation of the working side field type, and does not constitute a limitation on the scope of protection of this invention.

[0071] like Figure 1 As shown in Figure B, under the combined effect of the aforementioned magnetization angle sequence and spatial arrangement, the Halbach array group forms a flux-concentrating region on the working side and a closed-loop magnetic field distribution on the reverse side; the closed-loop magnetic field distribution corresponds to the formation of a return magnetic path, thereby constituting a unilateral enhanced magnetic field distribution. This asymmetric field pattern can determine the intrinsic force direction at the structural level, as shown by the arrow in the figure. As shown, this provides a foundation for subsequent non-contact support and directional power output.

[0072] Furthermore, the magnetic units on both sides of the Halbach array are configured with a gradually increasing size ratio from the outside to the inside, with the central magnetic unit forming a peak magnetic unit. This size ratio configuration, combined with the overall bias rotation angle and the relative phase progression relationship between adjacent magnetic units, causes the main working magnetic flux on the working side to further exhibit an oblique deflection, compression, and outward trend on the basis of unilateral guidance, changing from a relatively planar distribution to a locally high-density clustered distribution, and forming a preset oblique guidance for the force vector; the back magnetic flux can close along a relatively short path.

[0073] for Figure 1 As shown in A, the four-unit basic configuration can be modified in a three-unit implementation by retaining only the second magnetic unit 2, the third magnetic unit 3, and the fourth magnetic unit 4 as effective magnetic units, thereby forming a three-unit Halbach array group. The Halbach array group composed of three magnetic units still satisfies the requirement of progressive relative phase between adjacent magnetic units, and achieves a single-sided enhanced magnetic field distribution on the working side and a closed-loop magnetic field distribution on the reverse side through the two local closed-loop magnetic flux relationships formed between the second magnetic unit 2 and the third magnetic unit 3, and between the third magnetic unit 3 and the fourth magnetic unit 4.

[0074] (II) Electromagnetic array group and current modulation mechanism (combined with) Figure 2 )

[0075] like Figure 2 As shown, Figure 2 In the diagram, A represents the layout of the electrical connection terminal group and the auxiliary current direction indicator. Figure 2 B in the diagram represents the distribution of the unilateral enhanced magnetic field and the equivalent direction of the oblique thrust under the original operating conditions. Figure 2 C in the figure is a schematic diagram of the mirror flip of the single-sided enhanced magnetic field distribution under the overall reverse current state.

[0076] like Figure 2 As shown in Figure A, the first electrical connection terminal 5-1 and the second electrical connection terminal 5-2 corresponding to the first magnetic unit 1 correspond to the first negative input terminal and the first positive output terminal, respectively; the third electrical connection terminal 5-3 and the fourth electrical connection terminal 5-4 corresponding to the second magnetic unit 2 correspond to the second negative input terminal and the second positive output terminal, respectively; the fifth electrical connection terminal 5-5 and the sixth electrical connection terminal 5-6 corresponding to the third magnetic unit 3 correspond to the third negative output terminal and the third positive input terminal, respectively; and the seventh electrical connection terminal 5-7 and the eighth electrical connection terminal 5-8 corresponding to the fourth magnetic unit 4 correspond to the fourth positive input terminal and the fourth negative output terminal, respectively. The above correspondence is used for illustration. Figure 2 The current input-output relationship shown in the embodiment does not constitute a limitation on the scope of protection of this invention. Insulating eddy current suppression pads 6 are provided at the interface between adjacent electromagnet magnetic units. (The arrows in the figure...) This is used to illustrate the equivalent direction of the oblique thrust of the Halbach array group with single-sided oblique thrust in this embodiment.

[0077] By connecting the controlled current to the electrical connection terminal group 5, amplitude modulation and operating condition switching can be achieved without changing the inherent thrust direction of the structure. Under electromagnetic dynamic modulation conditions, let the first... The equivalent magnetic flux density of each unit on the working side is The equivalent area of ​​action is The magnetization direction is The reference parameters for the target thrust composition direction are: The corresponding current participation is .in, These are preset directional reference parameters used to characterize the consistency between the orientation of the synthesized magnetic flux vector and the direction of the target thrust; This represents the number of units involved in the synthesis. Along the target direction. The combined thrust can be characterized as: ;

[0078] In the formula, This refers to the number of units involved in the synthesis. The above includes... The expression is used to describe the dynamic modulation condition after the electromagnet array is connected; in the pure permanent magnet ground state without external excitation, no external excitation is introduced. The intrinsic oblique thrust output of the device is determined by the inherent field shape of the structure.

[0079] like Figure 2 As shown in Figure B, under the original operating state, after the controlled current is connected via the electrical connection terminal group 5, the unilateral oblique thrust Halbach array group forms a unilateral enhanced magnetic field distribution on the operating side, as indicated by the arrow in the figure. Used to indicate the equivalent direction of the oblique thrust under the original working condition.

[0080] like Figure 2 As shown in Figure C, the magnetic units in the electromagnet array are arranged sequentially along the array layout direction. This arrangement can form a symmetrical mirror image relationship around the array center or an asymmetrical mirror image relationship. When the electromagnet array is subjected to overall reverse current control, the relationship between the input and output terminals of each magnetic unit is switched as a whole, and the orientation of the unilateral enhanced magnetic field distribution is mirror-reversed accordingly. Arrow F in the figure indicates the equivalent direction of the oblique thrust after the switch. This operating condition switch can be used for drive state switching, deceleration braking, or inductive regeneration coexistence operating condition switching.

[0081] (III) Two core technical paths for the formation mechanism of oblique thrust (combined with) Figure 3 )

[0082] Figure 3 A in Figure 3 B in the diagram illustrates two technical paths for generating intrinsic oblique thrust output in this invention. The overall bias rotation angle mainly affects the directional orientation of the synthetic magnetic pressure distribution on the working side, while the non-uniform and asymmetric geometric size distribution mainly affects the position and degree of the oblique peak enhancement on the working side; the two can be implemented separately or in synergy to achieve structural design goals with different emphases.

[0083] 1. Uniform Path Size and Overall Offset Mechanism ( Figure 3 (B)

[0084] In this path, the first magnetic unit 1, the second magnetic unit 2, the third magnetic unit 3, and the fourth magnetic unit 4 adopt a structure of equal or nearly equal size. Let the first magnetic unit 4 be... The equivalent magnetic flux density formed by each magnetic unit on the working side is: The equivalent area of ​​action is The magnetization direction is The reference parameters for the target thrust composition direction are: Introducing engineering weight coefficients Then the combined effective force along the target direction can be characterized as: ;

[0085] in, This represents the number of magnetic units involved in the synthesis.

[0086] While maintaining the relative phase progression relationship between adjacent magnetic units, a bias rotation angle is superimposed on the original magnetization angle sequence. Then we have:

[0087] ;

[0088] From the above relationships, it can be seen that the overall offset rotation angle Without altering the relative phase progression between adjacent magnetic units, it is only used to make an overall adjustment to the orientation of the combined magnetic pressure distribution on the working side. Thus, under essentially equal-size conditions, this is achieved solely through an overall bias rotation angle. This allows the distribution of the enhanced magnetic field on one side of the working side to tilt as a whole relative to the normal direction of the magnetic levitation working gap, thereby forming a corresponding intrinsic oblique thrust output. For example... Figure 3 As shown in B in the figure, the arrow Used to illustrate rotation by an overall offset under basically equal dimensions. The resulting intrinsic oblique thrust output is equivalent to the direction of the thrust.

[0089] 2. Asymmetric geometry and slope peak enhancement mechanism ( Figure 3 A)

[0090] In this path, the first magnetic unit 1, the second magnetic unit 2, the third magnetic unit 3, and the fourth magnetic unit 4 exhibit a non-uniform, asymmetrical geometric size distribution along the array arrangement direction. While maintaining the relative phase progression relationship between adjacent magnetic units and without superimposing the overall bias rotation angle, the geometric size difference induces a local redistribution of magnetic flux on the working side, thereby achieving a tilt in the composite magnetic pressure distribution. When further enhancement of the peak output in the target direction is required, the aforementioned non-uniform, asymmetrical geometric size distribution can also be combined with the overall bias rotation angle.

[0091] The equivalent effective areas of the first magnetic unit 1, the second magnetic unit 2, the third magnetic unit 3, and the fourth magnetic unit 4 are respectively denoted as... , , and In a preferred embodiment, the equivalent area of ​​action satisfies: .

[0092] Preferably, the size of the first magnetic unit 1 can be set to , The size of the second magnetic unit 2 can be set to... , The size of the third magnetic unit 3 can be set to... , The size of the fourth magnetic unit 4 can be set to... , Under this preferred ratio, , , .

[0093] To characterize the weighted contribution of geometrical size differences to the resultant force in the target direction, an area weight term can be further defined: ;

[0094] in, For the first The equivalent effective area of ​​each magnetic unit The number of magnetic units involved in the summation. Used to characterize the The weighted contribution of each magnetic unit to the local magnetic flux focusing and the combined magnetic pressure distribution on the working side under non-uniform and asymmetric geometric size distribution conditions.

[0095] The aforementioned non-uniform and asymmetric geometric size distribution causes a local redistribution of magnetic flux on the working side, forming a peak-intensity enhancement region on the working side, within which a peak-intensity flux cluster is formed. This peak-intensity enhancement region can increase the local magnetic flux density and magnetic pressure gradient on the working side, thereby increasing the thrust and / or torque output in the target direction. The third magnetic unit 3 forms the main clustering region on the working side and can serve as the main thrust shaft unit; the main function of the fourth magnetic unit 4 is to guide the back flux loop closure and suppress leakage flux. Preferably, the linear dimensional tolerance is controlled within... Within this range, the magnetization angle error is controlled within... Within.

[0096] Under the approximation of a uniform magnetic levitation working gap, the magnetic pressure per unit area on the working side can be characterized as: ;

[0097] in, Let be the vacuum permeability. Further, a peak enhancement factor is introduced: ;

[0098] in, Peak magnetic flux density, The average magnetic flux density is denoted as . The peak enhancement factor described above characterizes the degree of enhancement of the peak enhancement region on the working side relative to the average magnetic flux level. When the non-uniform, asymmetric geometric distribution acts alone or in conjunction with the overall bias rotation angle, a higher peak magnetic flux density can be formed on the working side, thereby generating a higher peak thrust and / or peak torque in the target direction. For example... Figure 3 As shown in A in the figure, the arrow Used to illustrate the equivalent direction of intrinsic oblique thrust output caused by non-uniform and asymmetric geometric size distribution.

[0099] (iv) The working gap between the upper and lower relative magnetic levitation and the extension of the linear continuous array (combined) Figure 4 )

[0100] 1. Upper and lower relative magnetic levitation working gap structure ( Figure 4 A)

[0101] like Figure 4 As shown in Figure A, the upper single-sided oblique thrust Halbach array group 8 and the lower single-sided oblique thrust Halbach array group 9 are arranged opposite each other, forming a magnetic levitation working gap 7 between them. A magnetic repulsion state with like poles opposing each other is formed at the magnetic levitation working gap 7, thereby generating an intrinsic resultant force composed of the normal levitation force component and the tangential driving force component within the gap. Figure 4 As shown in A in the figure, the arrow This is used to illustrate the equivalent direction of the intrinsic oblique thrust output formed by the upper single-sided oblique thrust Halbach array group 8 and the lower single-sided oblique thrust Halbach array group 9 within the magnetic levitation working gap 7.

[0102] 2. Extension of linear continuous arrays ( Figure 4 (B)

[0103] like Figure 4 As shown in Figure B, the upper first Halbach array group 10, the upper second Halbach array group 11, the upper third Halbach array group 12, and the upper fourth Halbach array group 13 form an upper continuous array; the lower first Halbach array group 14, the lower second Halbach array group 15, the lower third Halbach array group 16, and the lower fourth Halbach array group 17 form a lower continuous array. Through linear cascading expansion, the unilateral enhanced magnetic field distribution of the basic array group can be extended into a continuous action zone, achieving long-stroke non-contact support and directional power output while maintaining the consistency of the equivalent direction of the intrinsic oblique thrust output. Figure 4 As shown in B, arrow F in the figure is used to indicate the directional power output direction where the overall resultant force direction is consistent after the continuous array is expanded.

[0104] (V) Example test explanation of the law of increasing repulsive force in small gaps (combined with) Figure 5 (Compare with Table 1)

[0105] like Figure 5 As shown in Table 1, under the condition of same poles relative to each other, the repulsive force exhibits a nonlinear increasing trend as the relative gap decreases, and the corresponding magnification relationship also shows a significant change. This trend is used to illustrate that, under a typical operating condition, a smaller gap condition may correspond to a higher degree of local magnetic flux concentration, a shorter effective magnetic circuit, and a larger magnetic pressure gradient. It does not represent a general quantitative conclusion after deviating from specific structural parameters, material parameters, and operating conditions.

[0106] Table 1. Example test data on the enhancement law of repulsive force under small gap conditions.

[0107]

[0108] Note: The table above shows example test results for N52 material, 42×10×87mm magnets under the condition of opposite poles. It is only used to illustrate that the repulsive force ratio increases non-linearly as the gap decreases, and does not limit the specific absolute value. The reference gap used for the ratio calculation in the table above is [missing information]. The table shows the main measure column for repulsive force (N).

[0109] The repulsive force enhancement law reflected in this example test under small gaps is one of the important inspirations and bases for the design of the present invention. It is used to support the subsequent analysis and calculation of the unilateral enhanced magnetic field distribution, the closed loop magnetic field distribution, and the composition relationship between the normal levitation force component and the tangential driving force component in the relative interaction gap of the Halbach array group. However, the table itself is not a direct measurement result of the overall composite force amplitude of the device of the present invention, nor does it limit the general quantitative conclusions after deviating from specific structural parameters, material parameters and operating conditions.

[0110] Example 2: Single-sided oblique thrust Halbach electromagnet array configuration, ring topology, and rotation control (combined with...) Figures 6 to 8 )

[0111] In this embodiment, the inner electromagnet array group and the outer electromagnet array group correspond to the magnetic field generating module and the magnetic field response module in the claims, respectively; in the ring-shaped relative arrangement, the two form a relative magnetic field interaction relationship at the ring magnetic levitation working gap 31.

[0112] This embodiment is a ring topology expansion based on the aforementioned single-sided oblique thrust Halbach array mechanism, used to illustrate the implementation of the basic magnetic circuit organization in a rotational drive scenario.

[0113] (I) Single-sided oblique thrust Halbach electromagnet array configuration and peak flux focusing (combined with) Figure 6 )

[0114] like Figure 6 A and Figure 6 As shown in B, both the inner and outer electromagnet array groups are composed of a first electromagnet unit 18, a second electromagnet unit 19, a third electromagnet unit 20 and a fourth electromagnet unit 21 arranged in sequence. An insulating eddy current suppression pad 6 is provided between adjacent electromagnet units, and an electrical connection terminal group 5 is provided at the end. Figure 6 The array group shown in Figure A is embedded entirely within the inner common back yoke groove 22. Figure 6The array group shown in B is embedded in the outer common back yoke groove 23, and the arrow F indicates the equivalent direction of the oblique thrust of the corresponding array group.

[0115] The inner and outer sets are arranged facing opposite working sides, and their asymmetrical contours and corresponding slots are matched to form a back magnetic return path, which causes the magnetic lines of force on the working side to converge towards the relative action area.

[0116] (II) Internal cross-section and electrical connection topology of the solid-state integrated conductive frame electromagnet array (combined with...) Figure 7 )

[0117] like Figure 7 As shown in Figure A, both the upper and lower array units are composed of the first to fourth electromagnet units, with an internal strip-shaped skeleton formed by multiple flat strip-shaped conductive bridge structures 24. Hollowed-out gaps are provided between the oblique trapezoidal array modules, and the flat strip-shaped conductive bridge structures 24 and the hollowed-out gaps together form a transverse air duct structure. The arc-shaped arrows in the figure indicate the rotation direction of the inner rotor. The figure shows the rotational angular velocity. The dashed arrow in the middle of the diagram indicates the heat dissipation path formed by the airflow through the transverse air duct structure under the relative motion driven by the rotation of the inner rotor. Through the transverse air duct structure, air can enter from the low-temperature region and flow through the array along a predetermined path before being discharged outward, thereby guiding and dissipating heat from the electromagnet array. As the rotational speed increases, the airflow velocity within the transverse air duct structure can increase accordingly, thereby enhancing the convective heat dissipation effect.

[0118] like Figure 7 As shown in B, the three-dimensional schematic diagram of the cross-sectional skeleton structure is composed of multiple flat strip-shaped conductive bridge structures 24 extending in parallel. The flat strip-shaped conductive bridge structures 24 retain space for airflow passage and together with the hollow gaps between the array modules, they form a transverse air duct structure, which is used to take into account conductive connection, structural support and heat dissipation.

[0119] like Figure 7 As shown in C, the end is provided with a first electrical connection terminal 5-1, a second electrical connection terminal 5-2, a third electrical connection terminal 5-3, a fourth electrical connection terminal 5-4, a fifth electrical connection terminal 5-5, a sixth electrical connection terminal 5-6, a seventh electrical connection terminal 5-7, and an eighth electrical connection terminal 5-8. The above terminals together constitute the electrical connection terminal group 5; the positional relationship of the insulating eddy current suppressing pad 6 is also shown in the figure.

[0120] like Figure 7 As shown in D, the S-side electrical connection point 25 is connected via the S-side electrical connection strip 27, and the N-side electrical connection point 26 is connected via the N-side electrical connection strip 28, thus forming the internal electrical connection topology of the complete electromagnetic control module.

[0121] (III) Circular closed topology, power supply connection, and rotation control of multiple electromagnet arrays (combined with...) Figure 8 )

[0122] like Figure 8 As shown in A, multiple electromagnet arrays are assembled circumferentially in the inner common back yoke slot 22 to form an inner ring assembly structure; arrow F indicates the oblique magnetic field of the corresponding array group and its equivalent force direction.

[0123] like Figure 8 As shown in B, multiple sets of electromagnet arrays are assembled circumferentially within the outer common back yoke groove 23, forming an outer ring-shaped assembly structure; arrow It indicates the inward-facing oblique magnetic field and the direction of the equivalent force.

[0124] like Figure 8 As shown in C, the electromagnet array power connection strip 29 is used to supply power to the outer electromagnet array, and the annular slip ring structure 30 is used to continuously supply power to the inner rotating component. Together, they form a ring power supply network.

[0125] like Figure 8 As shown in D, after assembly, an annular magnetic levitation working gap 31 is formed between the inner and outer components. This annular magnetic levitation working gap 31 serves as a strong magnetic coupling region, used to achieve synchronous output of non-contact normal levitation force and tangential driving force under a state of magnetic repulsion between like poles. Combined with... Figure 8 A in Figure 8 As shown in section B, the outward-facing oblique magnetic field formed by the inner annular assembly structure and the inward-facing oblique magnetic field formed by the outer annular assembly structure couple towards each other at the annular magnetic levitation working gap 31, causing the magnetic field lines on the working side to concentrate within the annular magnetic levitation working gap 31, thus forming a relatively concentrated repulsive magnetic field coupling region. This magnetic field organization characteristic forms the basis for the difference between this structure and the existing alternating magnetic pole SNSN structure in terms of the divergence and cancellation of magnetic field lines.

[0126] In this embodiment, at least one of the inner common back yoke groove 22 and the outer common back yoke groove 23 can serve as a magnetic flux bypass structure across the insulating eddy current suppression pad 6, used to maintain the continuity or equivalent continuity of the back-side loop closed magnetic field distribution while maintaining electrical insulation. The region where the insulating eddy current suppression pad 6 is located constitutes a relatively high magnetic reluctance region relative to the common back yoke groove and its adjacent magnetically conductive structure, while the back-side return magnetic flux forms a closed loop along the inner common back yoke groove 22 and / or the outer common back yoke groove 23 and its adjacent low magnetic reluctance path.

[0127] Under the control system, independently modulated excitation currents can be output to each zone of the electromagnet array group in a zoned manner, and sequential excitation, commutation excitation, and / or balanced excitation control can be implemented to create a controllable magnetic field gradient in the circumferential direction of the annular magnetic field. This results in a net circumferential driving torque, a reverse driving torque, or a near-zero resultant torque state on the rotating parts. Thus, it is possible to switch between various operating conditions, such as drive imbalance, suspension stiffness adjustment, stop holding, and simultaneous drive and inductive recovery.

[0128] The resultant circumferential torque on the rotating component can be expressed as: ;

[0129] in, The resultant circumferential torque on the rotating component. For the first The lever arm of each action zone relative to the center of rotation For the first The equivalent force components of each functional zone in the circumferential direction. The number of functional zones involved in the synthesis. By controlling the excitation sequence of the electromagnet array groups in each circumferential zone, the circumferential resultant torque can be established along a preset direction; when When, the rotating part achieves forward rotation; when When, the rotating part achieves reverse rotation; when At this time, the rotating parts are either stopped or maintain a predetermined stopped state.

[0130] In the standstill operation, by maintaining the preset balanced excitation relationship, the normal support state within the annular magnetic levitation working gap 31 is kept stable, and the rotating parts are kept circumferentially stable in the predetermined standstill state; in the coexistence of drive and inductive recovery operation, at least some of the partitioned electromagnet array groups that are not in the drive state enter the inductive recovery state under the cutting action of the relative magnetic field, so as to realize the coordinated switching of drive and recovery operation.

[0131] Example 3: Solid-state integrated permanent magnet Halbach array configuration and intrinsic field type implementation (combined) Figure 9 )

[0132] In this embodiment, the inner permanent magnet array group and the outer permanent magnet array group correspond to the magnetic field generating module and the magnetic field response module in the claims, respectively; in the ring assembly state, the two form a corresponding magnetic field interaction relationship in the relative working area.

[0133] (I) Single-sided oblique thrust Halbach permanent magnet array configuration and peak flux focusing (combined with) Figure 9 A in Figure 9 (B)

[0134] like Figure 9 A and Figure 9As shown in Figure B, both the inner and outer permanent magnet array structures include a first permanent magnet unit 32, a second permanent magnet unit 33, a third permanent magnet unit 34, and a fourth permanent magnet unit 35 arranged sequentially along the array arrangement direction. The first permanent magnet unit 32 to the fourth permanent magnet unit 35 together constitute a single-sided oblique thrust Halbach permanent magnet array structure, facing opposite working sides respectively. (The arrows in the figure...) Used to indicate the equivalent direction of the intrinsic oblique thrust output of the corresponding permanent magnet array group.

[0135] The permanent magnet unit can adopt a non-uniform asymmetric geometric size distribution, and its cross-section can be trapezoidal, near-trapezoidal or variable width fan-shaped structure, so as to form a peak magnetic flux convergence on the working side and a loop closed magnetic field distribution on the back side; the loop closed magnetic field distribution corresponds to the formation of a return magnetic path.

[0136] The permanent magnet units can be made of permanent magnet materials and formed into corresponding array structures through integral molding followed by segmented magnetization or segmented molding followed by splicing and solidification. During the manufacturing stage, each permanent magnet unit is magnetized according to a preset phase-progressive magnetization angle sequence to form a corresponding unilateral oblique thrust magnetic field structure.

[0137] (ii) Annular assembly and intrinsic field type retention (combination) Figure 9 C in Figure 9 D in the middle

[0138] like Figure 9 As shown in Figure C, multiple sets of the permanent magnet arrays are circumferentially assembled in the inner common back yoke groove 22, forming an inner ring configuration. (The arrow in the figure...) This is used to illustrate the equivalent direction of the intrinsic oblique thrust output of the inner annular configuration facing outwards.

[0139] like Figure 9 As shown in Figure D, multiple sets of the permanent magnet arrays are circumferentially assembled in the outer common back yoke slot 23, forming an outer ring configuration. Arrow F in the figure indicates the intrinsic oblique thrust output direction of the outer ring configuration facing inward.

[0140] The inner common back yoke groove 22 and the outer common back yoke groove 23 are used to provide installation positioning, structural support, and a common return magnetic path, respectively. After the inner annular configuration and the outer annular configuration are assembled, the magnetic lines of force on the working side are concentrated in the relative action area, and the back magnetic flux can form a continuous return magnetic path along the inner common back yoke groove 22 and the outer common back yoke groove 23, thereby ensuring that the unilateral enhanced magnetic field distribution remains valid in the annular assembly state.

[0141] Since the geometry and magnetization sequence of the permanent magnet array are determined during the manufacturing stage, a stable intrinsic oblique thrust output characteristic can be formed after assembly. This characteristic can be maintained independently of the excitation current during operation, and is mainly defined by the geometry and magnetization sequence of the permanent magnet array, as well as the assembly relationship of the inner common back yoke slot 22 and the outer common back yoke slot 23.

[0142] Example 4: Permanent magnet-electromagnetic hybrid configuration, stepped magnetic field formation and multi-condition control implementation (combined with...) Figure 10 )

[0143] In this embodiment, the inner rotor-side assembly and the outer stator-side assembly correspond to the magnetic field generating module and the magnetic field response module in the claims, respectively; wherein, both the magnetic field generating module and the magnetic field response module may include a permanent magnet array group and / or an electromagnet array group to form a permanent magnet-electromagnet hybrid integrated implementation.

[0144] (a) Hybrid topology and static ground state (combined) Figure 10 A in Figure 10 (B)

[0145] like Figure 10 As shown in Figure A, the inner rotor is equipped with an inner rotor electromagnet array assembly 36 and an inner rotor permanent magnet array assembly 37; the outer stator is equipped with, along the circumferential direction, a first outer stator electromagnet array assembly 38-1, a second outer stator electromagnet array assembly 38-2, a third outer stator electromagnet array assembly 38-3, a fourth outer stator electromagnet array assembly 38-4, a fifth outer stator electromagnet array assembly 38-5, a sixth outer stator electromagnet array assembly 38-6, and a first outer stator permanent magnet array assembly 39-1, a second outer stator permanent magnet array assembly 39-2, and a third outer stator permanent magnet array assembly 39-3. (The double-headed arrow in the figure...) This is used to illustrate the equivalent force direction of the repulsive effect between the electromagnet array group and the permanent magnet array group in the working gap of relative magnetic levitation.

[0146] The inner rotor electromagnet array assembly and the inner rotor permanent magnet array assembly are arranged alternately on the inner rotor side, and the first to sixth outer stator electromagnet arrays and the first to third outer stator permanent magnet arrays are distributed circumferentially on the outer stator side, thereby forming a permanent magnet-electromagnetic hybrid ring topology.

[0147] Figure 10 The diagram uses a scaled-down representation of the inner rotor to illustrate the magnetic field coupling relationship between the inner rotor and the outer stator; this representation does not constitute a limitation on the actual assembly ratio.

[0148] like Figure 10As shown in B, the power supply connection strip 29 of the electromagnet array group is used to realize the power supply connection of the outer stator electromagnet array group, and the annular slip ring structure 30 is used to realize the continuous power supply of the inner rotor assembly.

[0149] In the static ground state, the inner rotor permanent magnet array assembly and the first to third outer stator permanent magnet arrays are arranged in a predetermined staggered manner along the circumference, thereby establishing a balanced magnetomotive force relationship between the inner rotor and the outer stator.

[0150] (II) Controlled equilibrium disruption and the formation of a stepped magnetic field (combined) Figure 10 A in Figure 10 (B)

[0151] During startup, an excitation current is input through the annular slip ring structure, establishing a controlled electromagnetic interaction between the inner rotor electromagnet array assembly and the first to third permanent magnet arrays of the outer stator. This breaks the equilibrium magnetomotive force relationship under static ground state and establishes a positive driving torque in the circumferential direction. During rotation, by adjusting the excitation current intensity of the inner rotor electromagnet array assembly, it is superimposed with the inner rotor permanent magnet array assembly in the relative magnetic levitation working gap to form a non-uniformly varying stepped hybrid magnetic field distribution in the circumferential direction. This establishes a circumferential magnetic flux gradient on the outer stator side that can be induced and recovered.

[0152] (III) Zoned power supply and multi-condition control (combined with) Figure 10 A in Figure 10 (B) Based on the power supply relationship formed by the power connection strip 29 of the electromagnet array group and the annular slip ring structure 30, at least a portion of the electromagnet array groups in the outer stator electromagnet array group and the inner rotor electromagnet array group can be connected to controlled excitation current, thereby establishing, switching, or adjusting the controlled magnetic field relationship within the relative air gap. In drive mode, at least a portion of the electromagnet array groups are in drive mode to form a net circumferential drive torque output. In drive and induction recovery coexisting mode, at least a portion of the electromagnet array groups not connected to drive current enter a passive induction recovery state under the cutting action of the relative magnetic field, thereby achieving synchronous energy recovery while maintaining rotational output. In full drive mode, all relevant drive array groups are connected to drive current to form a positive circumferential resultant torque output. In braking, holding, or reverse adjustment mode, a reverse circumferential resultant torque can be formed through the balanced configuration of positive and negative magnetic fields between the same rotor circumferential groups and / or the opposing configuration of positive and negative magnetic fields between two groups of motors, thereby achieving deceleration, braking, holding, or reverse adjustment.

[0153] Example 5: Axial magnetic levitation dynamic configuration and energy interaction implementation method (combined with...) Figure 11 )

[0154] In this embodiment, the rotor-side assembly and the stator-side assembly correspond to the magnetic field generating module and the magnetic field response module in the claims, respectively, and are arranged axially opposite to each other to form an axial magnetic levitation working gap.

[0155] (a) Structural layout and axially opposing supports

[0156] like Figure 11 As shown, an axially configured hybrid rotor electromagnet array group 40 and an axially configured hybrid rotor permanent magnet array group 41 are arranged on the rotor side, and an axially configured stator electromagnet array group 42 is arranged on the stator side. The two are arranged opposite each other in the axial direction and form an axially relative magnetic levitation working gap, thereby establishing an axial non-contact support foundation and circumferential driving conditions. The axial configuration is a disc-type open structure, and an axially open heat dissipation channel is formed between the electromagnet array groups.

[0157] (ii) Array group replacement and static ground state maintenance

[0158] The axial configuration hybrid rotor electromagnet array group 40 and the axial configuration hybrid rotor permanent magnet array group 41 can adopt an electromagnetic-permanent magnet hybrid configuration, or they can be replaced entirely with a permanent magnet configuration as needed. In the corresponding embodiments, the rotor side and the stator side can be arranged in a preset staggered manner to establish a balanced magnetomotive force relationship under the static ground state, thereby providing basic physical support for the static holding of the system. The final non-contact stable holding is achieved in conjunction with the dynamic modulation of the electromagnetic actuation component.

[0159] (III) Operating conditions where drive, recovery and induction recovery coexist

[0160] In single-sided drive mode, an excitation current is input to the axially configured stator electromagnet array group 42, which forms a controlled electromagnetic interaction relationship with the mixed magnetic field on the rotor side. While maintaining axial support, a positive circumferential resultant torque is established, thereby driving the rotor to rotate. The array group that is coaxially opposite to it and is not connected to the drive current can enter a passive inductive recovery state under the cutting action of the relative magnetic field, thus realizing the coexistence of drive and inductive recovery.

[0161] In the dual-side configuration architecture, different operating conditions can be formed according to the rotation direction of the array groups on both sides: when both sides are configured to drive in opposite directions, braking or reverse adjustment can be achieved by alternating power supply and opposing magnetic fields; when both sides are configured to drive in the same direction, thrust can be enhanced by simultaneous power supply; when one side is in the driving state and the other side is not connected to the driving current, the undriven side can enter the passive induction recovery mode under the action of relative magnetic field cutting.

[0162] (iv) Regulation methods

[0163] The control system adjusts the excitation intensity, excitation direction, and zone on / off state of the axial configuration stator electromagnet array group 42 to achieve switching between driving output, deceleration braking, reverse adjustment, and inductive recovery. Thus, the axial magnetic levitation dynamic configuration achieves integrated operation of axial support, circumferential drive, and simultaneous drive-inductive recovery within the same topology.

[0164] Example 6: Radial-Axial Composite Magnetic Levitation Stable Topology Implementation (Combined with...) Figure 12 )

[0165] In this embodiment, the outer stator-side composite structure and the inner rotor-side composite structure correspond to the magnetic field generating module and the magnetic field response module in the claims, respectively; the two are arranged opposite each other in the radial and / or axial directions to form a corresponding composite magnetic field interaction relationship.

[0166] (a) External stator composite structure

[0167] like Figure 12 As shown in A, the outer stator side is provided with an electromagnet array power connection strip 29, a composite outer stator radial electromagnet array 43, a composite outer stator radial permanent magnet array 44, a composite outer stator axial electromagnet array 45, and a composite outer stator axial permanent magnet array 46.

[0168] like Figure 12 As shown in B, the cross-section of the outer stator assembly shows the hierarchical arrangement of the electromagnet array power connection strip 29, the composite outer stator radial electromagnet array 43, and the composite outer stator axial electromagnet array 45.

[0169] (II) Internal rotor composite structure

[0170] like Figure 12 As shown in C, the inner rotor side is provided with an annular slip ring structure 30, a composite inner rotor radial electromagnet array group 47, a composite inner rotor radial permanent magnet array group 48, a composite inner rotor axial electromagnet array group assembly 49, and a composite inner rotor axial permanent magnet array group assembly 50. The annular slip ring structure 30 is located at the power supply position on the inner rotor side to form a rotational power supply relationship.

[0171] (III) Integrated Operation Relationship between Drive and Power Generation

[0172] In a static state, the outer stator and the inner rotor are arranged in a pre-defined staggered configuration in the radial and axial directions, thereby establishing a composite magnetomotive force balance relationship.

[0173] Under operating conditions, by sending Figure 12 The electromagnet array in the inner rotor shown in C is given an excitation current, causing it to break the connection with... Figure 12 The static misalignment ground state between the outer stators, as shown in Figure A, is established to generate a composite thrust output. Figure 12 The electromagnet array group in the outer stator shown in Figure A, which is not in the driving state, can cut the composite magnetic field formed by the misaligned permanent magnets and enter the inductive recovery state.

[0174] In the dual-coaxial arrangement, the front side can adopt Figure 12 C and Figure 12 In the combination of A, the rear side can be adopted Figure 12 C and Figure 12 The combination of B in the diagram. When the front combination is in driving mode, the rear combination can be in inductive recovery mode; or the two outer stator electromagnet arrays can be alternately energized and switched according to the operating mode, thus taking into account both driving output and energy recovery.

[0175] (iv) Relationship between composite driving force and composite support

[0176] Combination Figure 12 A in Figure 12 In the case of C, the composite outer stator radial electromagnet array group 43 and the composite inner rotor radial electromagnet array group 47 form an electromagnetic actuation relationship in the radial direction; the composite outer stator radial permanent magnet array group 44 and the composite inner rotor radial permanent magnet array group 48 form a reference magnetic flux source relationship in the radial direction; the composite outer stator axial electromagnet array group 45 and the composite inner rotor axial electromagnet array group 49 form an electromagnetic actuation relationship in the axial direction; and the composite outer stator axial permanent magnet array group 46 and the composite inner rotor axial permanent magnet array group 50 form a reference magnetic flux source relationship in the axial direction.

[0177] The radial channel and the axial channel simultaneously provide thrust output, magnetic levitation support and dynamic stability compensation in their respective directions. When superimposed, they form a composite magnetic levitation force field in three-dimensional space to establish a radial-axial composite magnetic levitation stable topology.

[0178] (v) Power supply relationship and multi-condition operation

[0179] The outer stator side forms a power supply connection via the power connection strip 29 of the electromagnet array group, while the inner rotor side forms a rotational power supply connection via the annular slip ring structure. The control system can output independently modulated excitation currents to the electromagnet array groups on the outer stator side and the inner rotor side in a zoned manner, and implement sequential excitation, commutation excitation, and / or balanced excitation control. Under the condition of simultaneous drive and inductive recovery, at least some electromagnet array groups are in the drive state, while the remaining electromagnet array groups that are not in the drive state enter the passive inductive recovery state under the cutting action of the relative magnetic field. Thus, under the same composite topology, multi-directional thrust output, magnetic levitation support, dynamic stability compensation, and switching between drive and inductive recovery coexisting conditions can be realized.

[0180] Example 7: Linear configuration dual magnetic levitation working gap push-pull drive system (combined with) Figure 13 )

[0181] In this embodiment, the upper row of stationary side components and the lower row of stationary side components together constitute the magnetic field generating module and / or magnetic field response module in the claims, and the middle moving side component is arranged opposite to it, forming a corresponding magnetic field interaction relationship in the upper and lower double magnetic levitation working gap area.

[0182] like Figure 13 As shown, the upper stationary side is equipped with an upper linear stator component permanent magnet array group 51 and an upper linear stator component electromagnet array group 52; the lower stationary side is equipped with a lower linear stator component permanent magnet array group 53 and a lower linear stator component electromagnet array group 54; and the middle moving side is equipped with an upper linear mover component permanent magnet array group 55 and a lower linear mover component permanent magnet array group 56, thus forming an upper and lower double magnetic levitation working gap clamping structure. A basic magnetic levitation support magnetic field relationship is established between the upper and lower stator permanent magnet array groups and the upper and lower mover permanent magnet array groups, and an adjustable push-pull drive relationship is established between the upper and lower stator electromagnet array groups and the moving side.

[0183] The permanent magnet array group of the moving component and the permanent magnet array group of the stator component are constructed according to the single-sided enhanced magnetic field distribution formation mechanism described above, so as to form a single-sided enhanced magnetic field distribution on the corresponding working side and establish a non-contact magnetic levitation support state in the upper and lower double magnetic levitation working gap area.

[0184] Under operating conditions, differential excitation is applied to the upper linear stator assembly electromagnet array group 52 and the lower linear stator assembly electromagnet array group 54, causing a change in the electromagnetic interaction relationship within the upper and lower double magnetic levitation working gap area, thereby establishing a net thrust drive output along the linear direction. The differential excitation, commutation excitation, and holding control can adopt the control method corresponding to Embodiment 2.

[0185] In the outward propulsion mode, the control system increases the excitation intensity of the upper linear configuration stator assembly electromagnet array group 52, so that the axial component force along the preset positive direction dominates, thereby driving the moving side forward.

[0186] In retraction or reverse operation, the control system reduces the excitation intensity of the upper linear stator assembly electromagnet array group 52 and / or increases the excitation intensity of the lower linear stator assembly electromagnet array group 54, so that the axial component force in the opposite direction dominates, thereby driving the moving side to retract or reverse.

[0187] When the excitation intensity of the upper linear stator assembly electromagnet array group 52 and the lower linear stator assembly electromagnet array group 54 tends to be consistent under the holding or stopping conditions, a repulsive balance relationship is formed in the upper and lower double magnetic levitation working gap area, so that the moving side is in a stopped state or maintains a balanced state. The balanced magnetic potential relationship in the double magnetic levitation working gap area provides a non-contact support foundation, and electromagnetic dynamic modulation is used to maintain non-contact stability.

[0188] Under enhanced push-pull conditions, the control system can increase the excitation intensity of the upper linear stator assembly electromagnet array group 52, while simultaneously putting the lower linear stator assembly electromagnet array group 54 in a reverse excitation state, so as to form an enhanced differential force between the upper and lower rows, thereby establishing an enhanced net thrust along a preset direction; when configured in reverse, the control system can increase the excitation intensity of the lower linear stator assembly electromagnet array group 54, while simultaneously putting the upper linear stator assembly electromagnet array group 52 in a reverse excitation state, so as to establish an enhanced net thrust along the opposite direction.

[0189] In a simplified implementation, the upper row of linear stator component electromagnet array group 52 and the lower row of linear stator component electromagnet array group 54 can be used to form a single row control structure of upper and lower electromagnets. By controlling the reversal of the current direction and the change of the excitation intensity, the horizontal movement and stopping control of the moving side can be realized.

[0190] Example 8: Multi-degree-of-freedom spherical magnetic levitation dynamic configuration and omnidirectional attitude control (combined with...) Figure 14 )

[0191] In this embodiment, the curved permanent magnet array group mover assembly 57 and the curved configuration electromagnet array group stator 58 correspond to the magnetic field generating module and magnetic field response module in the claims, respectively, and the two form a relative magnetic field interaction relationship within the working gap of the spherical magnetic levitation.

[0192] This embodiment is a surface topology expansion based on the aforementioned single-sided oblique thrust Halbach array group basic mechanism, used to illustrate the implementation of the basic magnetic circuit organization in spherical magnetic levitation and multi-degree-of-freedom attitude control scenarios.

[0193] like Figure 14As shown, the moving part 57 of the curved permanent magnet array group and the stator 58 of the curved electromagnet array group are arranged opposite each other, forming a spherical magnetic levitation working gap between them. The moving part 57 of the curved permanent magnet array group serves as the moving side, and the stator 58 of the curved electromagnet array group serves as the stationary side. Both the moving side and the stationary side adopt a multi-lobed curved surface array arrangement distributed along the circumference of the sphere, as shown in the figure, with eight lobes, thereby forming local magnetic field action areas in different directions on the sphere. The spherical shell configuration can be regarded as a spatial extension structure after multiple sets of linear push-pull magnetic levitation drive units are arranged in a curved, lobe-like manner according to the curvature of the sphere. The curved permanent magnet array group and the curved electromagnet array group are constructed according to the single-sided enhanced magnetic field distribution formation mechanism described above, so as to form a single-sided enhanced magnetic field distribution on the corresponding working side and establish a non-contact magnetic levitation support foundation within the spherical magnetic levitation working gap.

[0194] (I) Mechanism of Local Thrust and Spatial Combined Torque

[0195] Figure 14 China axis, axis, Axial coordinate system. After the control system implements independent energization of the stator 58 of the curved electromagnet array group, each lobe generates a local force in the tangential direction of the spherical surface. Multiple local forces The spatial composite torque is formed by the superposition of vectors in three-dimensional space. This drives the curved permanent magnet array assembly mover 57 to rotate. axis, axis, Any single or composite axis in the shaft will produce deflection and rotation. Figure 14 As shown Used to indicate the direction of the local forces formed tangentially on the spherical surface by each lobe. It is used to represent the spatial torque output formed by the synthesis of multiple local forces in three-dimensional space.

[0196] When a single lobe is energized, a local deflection thrust is generated; when multiple adjacent lobes are energized in concert with different current intensities, a continuous attitude adjustment torque is generated; when the relative lobe positions are energized in a balanced or reverse manner, an attitude holding or reverse attitude adjustment effect is generated. Thus, the local push-pull action originally established along a single straight line is extended into a local tangential action distributed in multiple directions along the sphere, and synthesized into a spatial torque output in three-dimensional space.

[0197] (ii) Static suspension, attitude adjustment and holding control

[0198] Under static conditions, the moving part 57 of the curved permanent magnet array group and the stator 58 of the curved electromagnet array group form a balanced magnetic potential relationship within the spherical magnetic levitation working gap, providing a non-contact support foundation for the moving side.

[0199] Under attitude adjustment conditions, by changing the excitation intensity, energizing sequence, and excitation direction of different segments, an asymmetric magnetic field distribution is formed within the working gap of the spherical magnetic levitation, and... axis, axis, A controllable resultant torque output is established in the axial direction, thereby realizing multi-degree-of-freedom attitude adjustment.

[0200] Under the operating condition, when the excitation intensity of each segment tends to be balanced, the moving part 57 of the curved permanent magnet array group is in a preset attitude position, and the balanced magnetomotive force relationship in the working gap of the spherical magnetic levitation provides a non-contact support basis, which is combined with the partitioned excitation modulation to achieve the preset attitude maintenance.

[0201] Example 9: Axial displacement stepless power adjustment mechanism and torque decoupling mechanism (combined with...) Figure 15 )

[0202] This embodiment is a power adjustment method formed by combining axial coupling adjustment under the aforementioned basic magnetic circuit organization and force mechanism.

[0203] like Figure 15 As shown, the inner stator 59 of the axially adjustable permanent magnet array group and the outer rotor 60 of the permanent magnet array group are arranged in a coaxial nested manner. Both are constructed according to the single-sided enhanced magnetic field distribution formation mechanism described above, and establish a relative displacement relationship along the same axial centerline. Figure 15 A, B, and C in the equation correspond to the static zero-position state, the partially coupled power-adjusted state, and the full output state, respectively.

[0204] (a) Zero-position standby and axial cutting

[0205] exist Figure 15 In the static zero-position state shown in Figure A, the stator 59 within the axially adjustable permanent magnet array is in the retracted position, and the system is in a zero-position standby state. This indicates that the outer rotor is stationary. The external axial actuator drives the stator 59 of the axially adjustable permanent magnet array along the centerline. The magnet enters the outer rotor 60 of the permanent magnet array along the axial direction, thereby establishing a magnetic coupling relationship that varies with axial displacement.

[0206] (II) Partial Coupling and Full Output Power Regulation Mechanism

[0207] exist Figure 15 Under the coupled power regulation state shown in Figure B, the external axial force The stator 59 within the axially adjustable permanent magnet array is driven along the centerline. When the axis is axially cut in, the two partially overlap, and an oblique repulsive thrust begins to form within the magnetic levitation working gap, driving the outer rotor 60 of the permanent magnet array to output rotational torque.

[0208] exist Figure 15 In the full output state shown by C, as along the center line... Axial displacement in the axial direction As the magnetic coupling between the two increases, the outer rotor 60 of the permanent magnet array group outputs a higher speed and greater torque; when the inner stator 59 of the axially adjustable permanent magnet array group moves along... When the shaft exits in the opposite direction, the coupling decreases, the output torque decreases accordingly, and it returns to the zero-position standby state.

[0209] (III) Decoupling relationship between stepless axial displacement power regulation and torque

[0210] The structure adjusts the distance between the inner stator 59 of the axially adjustable permanent magnet array group and the outer rotor 60 of the permanent magnet array group along the centerline. The axial relative displacement in the axial direction enables continuous adjustment of the magnetic coupling degree, thereby achieving stepless adjustment of speed and torque.

[0211] In one embodiment, the unilateral enhanced magnetic field distribution during operation can cause the main magnetic component to exhibit a driving force in the rotational direction and a magnetic levitation effect in the supporting direction, while along the centerline... The resistance to axial displacement in the axial direction is relatively small. Based on this, the external axial actuator can provide resistance along the centerline. The axial adjustment force in the axial direction changes the coupling state and adjusts the rotational output, thereby forming a mechanical decoupling relationship between the axial control force and the rotational output torque.

[0212] (iv) Control methods

[0213] The axial actuator can be a mechanical lead screw, a servo push rod, or a linear motor to drive the stator 59 in the axially adjustable permanent magnet array along the centerline. Axial displacement is generated in the axial direction, thereby realizing zero-position standby, partial coupling power adjustment and full output power adjustment in the same structure.

[0214] Example 10: Comparison of existing technology with magnetic circuit organization analysis of like-pole repulsive magnetic arrays (combined with...) Figure 16 and Figure 8 D in the middle

[0215] This section is intended to illustrate the differences and technical effects between the same-pole relative direct magnetic levitation working gap coupling magnetic circuit organization of the present invention and the existing symmetrical magnetic pole structure, and is not intended as another inventive concept independent of the aforementioned basic mechanism.

[0216] Figure 16 A in Figure 16 The existing IPM-SynRM structure shown in Figure B belongs to a class of symmetrical magnetic pole structures employing an alternating magnetic pole SNSN topology. This type of structure still has room for improvement in terms of equivalent magnetic path distance, local peak focusing region, and effective work flux ratio; compared with... Figure 8 The reference to D in the diagram can be used to illustrate that the present invention, through the direct magnetic levitation working gap coupling method with opposite poles, is beneficial to shorten the effective magnetic circuit and improve the concentration of the working magnetic flux.

[0217] (a) Equivalent magnetic circuit distance of existing technology (combined with) Figure 16 A)

[0218] like Figure 16 As shown in Figure A, C1 represents the flat wire winding region, and C2 represents the physical air gap. Figure 16 Taking the schematic configuration shown in Figure A as an example, the equivalent internal magnetic circuit distance of the V-shaped permanent magnet array can be taken as approximately 6 mm, the physical air gap C2 can be taken as approximately 0.8 mm, and the structural layer thickness between the flat wire winding region C1 and the edge of the stator inner ring can be taken as approximately 1 mm. Therefore, the equivalent magnetic coupling distance from the rotor's equivalent magnetic center to the stator's working area is approximately: ;

[0219] in, Indicates in Figure 16 The equivalent magnetic coupling distance from the rotor's equivalent magnetic center to the stator's working area is shown in the schematic configuration A.

[0220] The distance is relatively long, and the magnetic flux is prone to attenuation before entering the work region.

[0221] (ii) Existing technologies suffer from limited local peak focusing and work area (combined with...) Figure 16 (B)

[0222] like Figure 16 As shown in Figure B, the existing technology employs a V-shaped magnetic flux focusing structure. This structure can form a peak focusing point in a local area, but the number of efficient working regions is limited. A large number of magnetic lines of force may still close prematurely, diverge, or leak outside the working air gap, near the core boundary, or between adjacent poles, thus affecting the proportion of effective working magnetic flux. At the same time, the coexistence of attraction and repulsion within the air gap also compresses the spatial range of the efficient working region.

[0223] (III) The magnetic circuit compression and work area expansion of the present invention (combined with) Figure 8 D in the middle

[0224] and Figure 16 Compared with the prior art shown, the present invention has the following advantages: Figure 8 In the structure shown in Figure D, the relative arrays between the inner rotor and the outer stator can be directly coupled to form a relatively concentrated working area within the magnetic levitation working gap. Thus, the high-intensity magnetic flux on the working side can be concentrated and guided into the annular magnetic levitation working gap 31, which helps to reduce the ineffective magnetic areas corresponding to premature closure, divergence, leakage, and attraction cancellation, thereby increasing the space ratio of the efficient working area and the proportion of effective working magnetic flux.

[0225] Compared to existing technologies The equivalent magnetic coupling distance is shortened by the direct magnetic levitation working gap coupling method of this invention, resulting in a more continuous repulsive coupling relationship between magnetic field lines within the magnetic levitation working gap. The example test shown in Table 1, reflecting the enhanced repulsive force under small relative gap conditions, is one of the important bases for the magnetic circuit compression, work zone expansion, and related mechanical analysis of this invention. It provides supporting explanations for the mechanical response analysis of the device under smaller effective magnetic levitation working gap conditions. Therefore, compared with existing alternating magnetic pole topologies, this invention exhibits more favorable magnetic field organization characteristics in terms of thrust output.

[0226] (iv) Comparison of conclusions

[0227] The main problems with existing technologies are that the equivalent magnetic circuit distance is long, the local peak focusing area is limited, and the effective work flux ratio is low. This invention improves the utilization rate of the effective magnetic field by using a direct magnetic levitation working gap coupling method with opposite poles, and is conducive to forming a magnetic field organization suitable for thrust output.

Claims

1. A single-sided oblique thrust repulsion magnetic levitation power device based on a Halbach array, characterized in that, The device includes a magnetic field generating module and a magnetic field response module that are relatively arranged to form a magnetic levitation working gap (7). The device is configured such that the magnetic field generating module and the magnetic field response module are in a magnetic repulsion state with opposite poles in the magnetic levitation working gap (7). At least one of the magnetic field generating module and / or the magnetic field response module includes a Halbach array group, which is composed of at least three magnetic units arranged sequentially along the array arrangement direction. Each magnetic unit is rotated sequentially according to a preset phase-progressive magnetization angle sequence. While maintaining the relative phase progression relationship between adjacent magnetic units, the magnetic field generating module and the magnetic field response module are connected in a magnetically repulsive state with opposite poles in the magnetic levitation working gap (7). The magnetization angle sequence is superimposed with a preset bias rotation angle and / or each magnetic unit is distributed in a non-uniform, asymmetrical geometric size along the array arrangement direction, so that at least two local closed-loop magnetic flux relationships are formed between adjacent magnetic units and they cooperate with each other. This results in the Halbach array group forming a unilateral enhanced magnetic field distribution on the working side and a closed loop magnetic field distribution on the back side, and forming a synthetic magnetic pressure distribution that is inclined relative to the normal direction of the gap in the magnetic levitation working gap (7). The synthetic magnetic pressure distribution is decomposed into a normal levitation force component and a tangential driving force component to achieve non-contact support and intrinsic oblique thrust output.

2. The apparatus according to claim 1, characterized in that, Without superimposing the preset bias rotation angle, the non-uniform asymmetric geometric size distribution triggers a local redistribution of magnetic flux, causing the Halbach array group to form an inclined synthetic magnetic pressure distribution within the magnetic levitation working gap (7).

3. The apparatus according to claim 1, characterized in that, The magnetic units in the Halbach array are distributed with nearly equal size. While maintaining the relative phase progression relationship between adjacent magnetic units, the preset bias rotation angle is superimposed on the magnetization angle sequence as a whole, so that the Halbach array forms an inclined synthetic magnetic pressure distribution in the magnetic levitation working gap (7). The synthetic magnetic pressure distribution is decomposed into a normal levitation force component and a tangential driving force component, thereby realizing the output of intrinsic oblique thrust.

4. The apparatus according to claim 1, characterized in that, The non-uniform asymmetric geometric size distribution is characterized by the unequal geometric size of each magnetic unit in the Halbach array group along the array arrangement direction, and includes at least one peak magnetic unit to form a sloping peak enhancement region on the working side.

5. The apparatus according to claim 4, characterized in that, The combined effect of the position of the peak magnetic unit, the unequal configuration, and / or the preset bias rotation angle causes the peak magnetic flux on the working side to shift obliquely along a preset direction.

6. The apparatus according to claim 5, characterized in that, The Halbach array group includes four magnetic units arranged sequentially along the array layout direction, wherein the third magnetic unit has the largest equivalent area, followed by the second magnetic unit, then the first magnetic unit, and the fourth magnetic unit has the smallest.

7. The apparatus according to claim 1, characterized in that, The Halbach array is a permanent magnet array that provides normal levitation force and tangential driving force components under conditions without continuous excitation current.

8. The apparatus according to claim 1, characterized in that, The magnetic field generating module and / or the magnetic field response module further include an electromagnet array group configured in conjunction with the Halbach array group. The electromagnet array group generates a controlled spatial magnetic field by connecting an excitation current to dynamically modulate the normal levitation force component and / or the tangential driving force component.

9. The apparatus according to claim 8, characterized in that, The device adopts a hybrid integrated implementation of permanent magnets and electromagnets, wherein the permanent magnet array provides the basic intrinsic oblique thrust output magnetic field, and the electromagnet array generates a controlled compensation magnetic field to achieve adjustment of levitation height, tangential driving force and / or output conditions.

10. The apparatus according to claim 8, characterized in that, The electromagnet array group includes a solid integrated conductive frame made of a high thermal conductivity metal material. The frame has an internal mounting cavity for accommodating the magnetic units and forms a current conduction path and / or heat conduction path through a flat strip conductive bridge structure.

11. The apparatus according to claim 10, characterized in that, An insulating eddy current suppression pad (6) is provided at the interface between the conductive skeleton and the magnetic unit to suppress interlayer eddy currents under high-frequency operating conditions under electrical insulation conditions, and to make the working magnetic flux form magnetic coupling along the magnetic path.

12. The apparatus according to claim 11, characterized in that, A magnetic flux bypass structure is also provided across the insulating eddy current suppressing pad (6), the magnetic flux bypass structure including at least one of an inner common back yoke groove (22) and an outer common back yoke groove (23) to maintain the continuity or equivalent continuity of the back-side loop closed magnetic field distribution while maintaining electrical insulation.

13. The apparatus according to claim 9, characterized in that, It also includes a control system configured to input controlled excitation current to at least a portion of the electromagnet array group through the array group power connection bar and / or annular slip ring structure, so as to establish, switch or adjust the controlled magnetic field interaction relationship within the magnetic levitation working gap, and cause at least a portion of the electromagnet array group that is not in the driving state to enter the inductive recovery state under the action of relative magnetic field cutting under the driving condition.

14. The apparatus according to claim 1, characterized in that, When the working gap of the magnetic levitation changes within a preset range, the amplitude of the combined force formed by the normal levitation force component and the tangential driving force component can exhibit a nonlinear response characteristic as the gap changes.

15. The apparatus according to claim 1, characterized in that, Multiple Halbach array groups are arranged in the horizontal and / or vertical directions to form a two-dimensional planar array or a three-dimensional curved surface array; for embodiments with a preset offset rotation angle, the preset offset rotation angles between each array group are symmetrically or asymmetrically mirrored.

16. The apparatus according to claim 7, characterized in that, The Halbach array group is composed of a solid-state integrated permanent magnet array, which is formed by segmented magnetization to create the magnetization angle sequence, or by splicing and solidifying multiple modular units to form an overall structure.

17. The apparatus according to claim 12, characterized in that, At least one of the inner common back yoke groove (22) and the outer common back yoke groove (23) cooperates with the insulating eddy current suppression pad (6) to form a relatively high magnetic resistance region in the area where the insulating eddy current suppression pad (6) is located, and to form a closed loop along at least one of the inner common back yoke groove (22) and the outer common back yoke groove (23) and its adjacent low magnetic resistance path.

18. The apparatus according to claim 6, characterized in that, The third magnetic unit forms the main focusing region on the working side, and the fourth magnetic unit is used to guide the closure of the back magnetic flux loop and suppress leakage magnetic flux to enhance the magnetic flux convergence on the working side.

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