Disc motor and control method thereof

Abstract

The application relates to a disc type motor, which comprises a stator, a rotor, a position sensor and a control circuit; the stator comprises winding units, the winding units are arranged between the stator and the rotor, the winding units are 3N, every adjacent three winding units form a three-phase winding, N is a natural number greater than or equal to 1; the position sensor is opposite to the rotor, and the position sensor is used for detecting the rotating speed and the suspension height of the rotor; the control circuit is electrically connected with the winding units and the position sensor, the control circuit is used for receiving the detection result of the position sensor and controlling the rotating speed and the suspension height of the rotor through the winding units; the scheme can realize real-time monitoring of the running state of the rotor through the position sensor, so that the control circuit can timely adjust the running state of the rotor, thereby solving the problems of low running stability and low accuracy of the existing disc type motor.

Description

TECHNICAL FIELD

[0001] The present application relates to an electric machine, in particular to a disc type electric machine and a control method thereof. BACKGROUND

[0002] Electric machines are widely used in manufacturing industry, medical devices, robots and other industries. With the development of technology, more and more fields require electric machines to meet the requirements of miniaturization, integration (integration of mechanical parts and control parts), flexible control, etc.

[0003] Disc type electric machines are an important structure form of electric machines, in which the stator and rotor of the electric machine are arranged along the axial direction and are made into disc shapes. Such electric machines have the following defects:

[0004] 1. Currently, the mechanical parts and control parts of many electric machines are independent and separate, which are large in size and not fully utilized in space.

[0005] 2. The rotor of the electric machine is rotated by a rotating shaft, which has mechanical bearings, thereby generating mechanical friction heat and wear.

[0006] 3. Currently, most electric machines can only realize the rotation of the rotor, which is single in function and cannot meet the application requirements of more adjustment of the posture of the electric machine.

[0007] 4. The running stability and accuracy of the electric machine are not high. SUMMARY

[0008] The purpose of the present application is to provide a disc type electric machine to solve the problem of low running stability and accuracy of the existing disc type electric machine.

[0009] In order to solve the above technical problems, the present application provides a disc type electric machine, comprising a stator, a rotor, a position sensor and a control circuit; the stator comprises a winding unit, the winding unit is arranged between the stator and the rotor, the winding unit is 3N, every adjacent three winding units form a three-phase winding, N is a natural number greater than or equal to 1; the position sensor is opposite to the rotor, the position sensor is used for detecting the rotating speed and suspension height of the rotor; the control circuit is electrically connected with the winding unit and the position sensor, the control circuit is used for receiving the detection result of the position sensor and controlling the rotating speed and suspension height of the rotor through the winding unit.

[0010] Among them, the winding unit comprises a stator tooth and a stator coil, the stator coil is installed on the stator tooth, the control circuit controls the rotating speed and suspension height of the rotor by changing the current phase and current amplitude of the stator coil.

[0011] Three winding units are symmetrically arranged in a circle, and the stator coils of the three winding units form a three-phase winding.

[0012] Six winding units are symmetrically arranged in a circle, and the control circuit can control the stator coils of any three adjacent winding units to form a three-phase winding.

[0013] Nine winding units are symmetrically arranged in a circle, and the stator coils of the nine winding units form three three-phase windings.

[0014] The winding unit comprises a stator tooth, a stator coil and a magnetic suspension coil, and the stator coil and the magnetic suspension coil are mounted on the stator tooth; the control circuit controls the rotating speed of the rotor by changing the current phase and current amplitude of the stator coil, and controls the suspension height of the rotor by changing the current phase and current amplitude of the magnetic suspension coil.

[0015] Three winding units are symmetrically arranged in a circle, and the stator coils of the three winding units form a three-phase winding.

[0016] Six winding units are symmetrically arranged in a circle; the stator coils of three adjacent winding units form a first three-phase winding, and the stator coils of the remaining three adjacent winding units form a second three-phase winding; the magnetic suspension coils of every two adjacent winding units form a magnetic suspension winding, and the control circuit controls the suspension height of the rotor through the three magnetic suspension windings.

[0017] Nine winding units are symmetrically arranged in a circle; the stator coils of the nine winding units form three three-phase windings; the magnetic suspension coils of every three adjacent winding units form a magnetic suspension winding, and the control circuit controls the suspension height of the rotor through the three magnetic suspension windings.

[0018] The control circuit is in the form of a plate, each stator tooth penetrates the control circuit and fixes the mounting position of the control circuit, and the control circuit is arranged opposite to the rotor.

[0019] The beneficial effects of the present application are as follows:

[0020] Since the position sensor is used to detect the rotating speed and suspension height of the rotor, the control circuit is used to receive the detection result of the position sensor and control the rotating speed and suspension height of the rotor through the winding unit, so that the operation state of the rotor is monitored in real time through the position sensor, the control circuit adjusts the operation state of the rotor in time, and the problems of low operation stability and low accuracy of the existing disc motor are solved. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the present application, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0022] Figure 1 is a schematic diagram of the structure of the disc motor provided by the first embodiment of the present application;

[0023] Figure 2 is a schematic diagram of the structure of the disc motor provided by the second embodiment of the present application;

[0024] Figure 3 is a schematic diagram of the working state of the disc motor at the first time provided by the second embodiment of the present application;

[0025] Figure 4 is a schematic diagram of the working state of the disc motor at the second time provided by the second embodiment of the present application;

[0026] Figure 5 is a schematic diagram of the working state of the disc motor at the third time provided by the second embodiment of the present application;

[0027] Figure 6 is a schematic diagram of the structure of the disc motor provided by the third embodiment of the present application;

[0028] Figure 7 is a schematic diagram of the disassembled structure of the disc motor provided by the third embodiment of the present application;

[0029] Figure 8 is a schematic diagram of the structure of the disc motor provided by the fourth embodiment of the present application;

[0030] Figure 9 is a schematic diagram of the structure of the disc motor provided by the fifth embodiment of the present application;

[0031] Figure 10 is a schematic diagram of the disassembled structure of the disc motor provided by the fifth embodiment of the present application;

[0032] Figure 11is a schematic diagram of a disc motor structure provided by the sixth embodiment of the present application;

[0033] Figure 12 is a schematic diagram of a stator coil distribution structure of a disc motor provided by the sixth embodiment of the present application;

[0034] Figure 13 is a schematic diagram of a magnetic suspension coil distribution structure of a disc motor provided by the sixth embodiment of the present application. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.

[0036] The disc motor provided by the present application comprises a stator, a rotor, a position sensor and a control circuit; the stator comprises a winding unit, the winding unit is arranged between the stator and the rotor, the winding unit is 3N in number, every three adjacent winding units form a three-phase winding, N is a natural number greater than or equal to 1; the position sensor is opposite to the rotor, the position sensor is used for detecting the rotating speed and the suspension height of the rotor; the control circuit is electrically connected with the winding unit and the position sensor, the control circuit is used for receiving the detection result of the position sensor and controlling the rotating speed and the suspension height of the rotor through the winding unit.

[0037] After meeting the structure, no matter the winding unit is three, six, nine or more, the position sensor can monitor the running state of the rotor in real time, so that the control circuit can timely adjust the running state of the rotor, thereby solving the problem that the running stability and accuracy of the existing disc motor are not high.

[0038] Among them, the winding unit has multiple ways to realize the rotating speed and suspension height control of the rotor, one of which can be that the winding unit comprises a stator tooth and a stator coil, the stator coil is installed on the stator tooth, the control circuit controls the rotating speed and the suspension height of the rotor by changing the current phase and the current amplitude of the stator coil; that is, the rotating speed and the suspension height of the rotor can be controlled at the same time through the stator coil at this time, and the specific application can be referred to the first to third embodiments of the disc motor below.

[0039] From Figure 1 It can be known that the first embodiment of the disc motor provided by the present application comprises:

[0040] The stator 1A, as shown in Figure 1As shown, the bottom of the stator 1A is substantially annular plate, the stator 1A comprises winding unit 2A, winding unit 2A is three, three winding unit 2A is arranged in a symmetrical manner in a circle, wherein each winding unit 2A comprises a stator tooth 21A and a stator coil 22A, the stator coil 22A of three winding unit 2A constitutes a three-phase winding; about the stator tooth 21A, it comprises a core 211A and a substantially equal sector pole shoe 212A, the upper end of the core 211A is connected and fixed with the lower surface of the pole shoe 212A; and the stator coil 22A is arranged around the core 211A, so as to realize the stator coil 22A mounted on the stator tooth 21A.

[0041] The control circuit 3A, as shown, Figure 1 The control circuit 3A is provided as a plate, specifically, it can be provided as a circular plate PCB circuit board, each stator tooth 21A penetrates the control circuit 3A and fixes the installation position of the control circuit 3A, so that the control circuit 3A is arranged opposite to the rotor 5A, specifically, the upper end of each core 211A penetrates the control circuit 3A, the control circuit 3A will be supported above the stator coil 22A and electrically connected with the stator coil 22A, so as to realize the installation and fixation of the control circuit 3A.

[0042] The position sensor 4A, as shown, Figure 1 The position sensor 4A is provided on the upper surface of the control circuit 3A and electrically connected with the control circuit 3A, wherein the position sensor 4A is three, three position sensors 4A are respectively provided between each two adjacent stator teeth 21A; in addition, the position sensor 4A is preferably a Hall sensor.

[0043] The rotor 5A, as shown, Figure 1 The rotor 5A is substantially annular, the rotor 5A is arranged above the control circuit 3A and is opposite to each position sensor 4A.

[0044] The application process of this embodiment is as follows:

[0045] 1, the control circuit 3A controls three winding units 2A to enter the working state, at this time the magnetic field generated by the winding unit 2A can drive the rotor 5A to float and rotate;

[0046] 2, in the process of rotating the rotor 5A, the position sensor 4A can detect the rotating speed and floating height of the rotor 5A;

[0047] 3、The control circuit 3A receives the detection result of the position sensor 4A, and then the running state of the rotor 5A can be regulated; Specifically, by adjusting the current phase and current amplitude of the stator coil 22A, the rotation speed and suspension height of the rotor 5A can be regulated; Of course, the control mode of the control circuit 3A can be artificial regulation or automatic regulation, for example, the operator knows the detection result of the position sensor 4A, and artificially regulates to change the running state of the rotor 5A, or the control circuit 3A presets a rotor 5A running state allowable range, and the control circuit 3A automatically regulates the running state of the rotor 5A after receiving the detection result of the position sensor 4A, until the running state of the rotor 5A is in the preset allowable range.

[0048] From Figure 2 It can be known that the second embodiment of the disc type motor of the application is basically the same as the first embodiment, and the difference lies in the following two points:

[0049] First, the winding unit 2B is six, and the six winding units 2B are arranged in a symmetrical manner on a circumference, and the control circuit 3B can control the stator coil group 22B of any three adjacent winding units 2B to form a three-phase winding.

[0050] Second, the position sensor 4B is six, and the six position sensors 4B are respectively arranged between every two adjacent stator teeth 21B.

[0051] The application process of the second embodiment is basically the same as that of the first embodiment, and the difference lies in that the rotation angle adjustment of the rotor 5B can be realized, and the specific process is as follows:

[0052] 1、As Figure 3 shown, at the first time, the stator coil 22B1, the stator coil 22B2 and the stator coil 22B3 form a first three-phase winding XB1, and the first three-phase winding XB1 controls the suspension height of the rotor 5B to be ZB1, while the stator coil 22B4, the stator coil 22B5 and the stator coil 22B6 form a second three-phase winding XB2, and the second three-phase winding XB2 controls the suspension height of the rotor 5B to be ZB2;

[0053] 2、As Figure 4 shown, at the second time, the stator coil 22B6, the stator coil 22B1 and the stator coil 22B2 form a third three-phase winding XB3, and the third three-phase winding XB3 controls the suspension height of the rotor 5B to be ZB3, while the stator coil 22B3, the stator coil 22B4 and the stator coil 22B5 form a fourth three-phase winding XB4, and the fourth three-phase winding XB4 controls the suspension height of the rotor 5B to be ZB4;

[0054] 3、As Figure 5As shown, at the third moment, the stator coil 22B5, the stator coil 22B6 and the stator coil 22B1 constitute a fifth three-phase winding XB5, the fifth three-phase winding XB5 controls the height ZB5 of the suspension of the rotor 5B, while the stator coil 22B2, the stator coil 22B3 and the stator coil 22B4 constitute a sixth three-phase winding XB6, the sixth three-phase winding XB6 controls the height ZB6 of the suspension of the rotor 5B;

[0055] 4, if ZB1=ZB2=ZB3=ZB4=ZB5=ZB6, it indicates that the rotor 5B and the bottom of the stator 1B are in parallel relative state, and the suspension height of the rotor 5B will be in a stable state, and if there is inequality in ZB1 to ZB6, it will cause the rotor 5B to tilt, for example, if ZB1<ZB2, it will cause the rotor 5B to be in a state of left high right low, of course, at this time, the position sensor 4B will continuously detect the running state of the rotor 5B, so that the control circuit 3B can timely regulate and control the running state of the rotor 5B.

[0056] From Figure 6 and Figure 7 It can be known that the third embodiment of the disc type motor of the application is basically the same as the first embodiment, and the difference lies in the following three points:

[0057] First, the winding unit 2C is nine, and the nine winding units 2C are arranged in a symmetrical manner on a circumference, wherein the stator coils 22C of the nine winding units 2C constitute three three-phase windings, specifically, the stator coil 22C1, the stator coil 22C2 and the stator coil 22C3 constitute a first three-phase winding XC1, the stator coil 22C4, the stator coil 22C5 and the stator coil 22C6 constitute a second three-phase winding XC2, and the stator coil 22C7, the stator coil 22C8 and the stator coil 22C9 constitute a third three-phase winding XC3.

[0058] Second, the position sensor 4C is six, and two position sensors 4C are arranged above each three-phase winding, at this time, two position sensors 4C are arranged in each three stator teeth 21C, so as to realize the monitoring of the suspension height control of each three-phase winding on the rotor 5C.

[0059] The application process of the third embodiment is basically the same as that of the first embodiment, and the difference lies in that the turning angle adjustment of the rotor 5C can be realized, and the specific process is as follows:

[0060] The control circuit 3C controls the height of the rotor 5C levitation by the three-phase winding XC1, the control circuit 3C controls the height of the rotor 5C levitation by the three-phase winding XC2, and the control circuit 3C controls the height of the rotor 5C levitation by the three-phase winding XC3; if ZC1=ZC2=ZC3, it indicates that the rotor 5C and the bottom of the stator 1C are in a parallel relative state, and the levitation height of the rotor 5C will be in a stable state; and if there is an inequality among ZC1 to ZC3, it will cause the rotor 5C to tilt, and since the tilting principle and control adjustment mode are the same as the second embodiment, they will not be described here.

[0061] In addition, there are various ways for the winding unit to realize the rotor speed and levitation height control, and another way can be that the winding unit comprises a stator tooth, a stator coil and a magnetic suspension coil, the stator coil and the magnetic suspension coil are both mounted on the stator tooth; the control circuit controls the speed of the rotor by changing the current phase and current amplitude of the stator coil, and controls the levitation height of the rotor by changing the current phase and current amplitude of the magnetic suspension coil; that is, the control of the rotor speed can be realized by the stator coil at this time, and the control of the rotor levitation height can be realized by the magnetic suspension coil, and the specific application can be referred to the fourth to sixth embodiments of the disc motor below.

[0062] From Figure 8 It can be known that the fourth embodiment of the disc motor of the application is basically the same as the first embodiment, and the difference lies in that the winding unit 2D further comprises a magnetic suspension coil 23D, the magnetic suspension coil 23D is mounted on the stator tooth 21D, and specifically, the magnetic suspension coil 23D is arranged around the iron core 211D and is placed between the stator coil 22D and the pole shoe 212D; wherein the control circuit 3D controls the speed of the rotor 5D by the stator coil 22D and controls the levitation height of the rotor 5D by the magnetic suspension coil 23D.

[0063] The application process of this embodiment is roughly as follows:

[0064] 1. The control circuit 3D adjusts the current phase and current amplitude of the stator coil 22D to appropriate values, so as to realize the independent control of the stator coil 22D on the speed of the rotor 5D;

[0065] 2. The control circuit 3D adjusts the current phase and current amplitude of the magnetic suspension coil 23D to appropriate values, so as to realize the independent control of the magnetic suspension coil 23D on the levitation height of the rotor 5D.

[0066] From Figure 9 And Figure 10 It can be known that the fifth embodiment of the disc motor of the application is basically the same as the fourth embodiment, and the difference lies in the following four points:

[0067] First, the winding units 2E are six, and the six winding units 2E are arranged in a symmetrical manner on a circumference.

[0068] Second, the stator coils 22E of three adjacent winding units 2E form a first three-phase winding XE1, and the stator coils 22E of the remaining three adjacent winding units 2E form a second three-phase winding XE2, specifically, the stator coil 22E1, the stator coil 22E2, and the stator coil 22E3 form the first three-phase winding XE1, and the stator coil 22E4, the stator coil 22E5, and the stator coil 22E6 form the second three-phase winding XE2, and the control circuit 3E controls the rotating speed of the rotor 5E through the three-phase winding XE1 and the three-phase winding XE2.

[0069] Third, the magnetic suspension coils 23E of every two adjacent winding units 2E form a magnetic suspension winding, and the control circuit 3E controls the suspension height of the rotor 5E through the three magnetic suspension windings, specifically, the magnetic suspension coil 23E1 and the magnetic suspension coil 23E2 form a first magnetic suspension winding YE1, the magnetic suspension coil 23E3 and the magnetic suspension coil 23E4 form a second magnetic suspension winding YE2, and the magnetic suspension coil 23E5 and the magnetic suspension coil 23E6 form a third magnetic suspension winding YE3, and the control circuit 3E controls the suspension height of the rotor 5E through the magnetic suspension winding YE1, the magnetic suspension winding YE2, and the magnetic suspension winding YE3.

[0070] Fourth, the position sensors 4E are six, and the six position sensors 4E are respectively arranged between every two adjacent stator teeth 21E.

[0071] The application process of the fifth embodiment is basically the same as that of the fourth embodiment, and specifically as follows:

[0072] 1. The control circuit 3E controls the rotating speed of the rotor 5E through the three-phase winding XE1 and the three-phase winding XE2, wherein by adjusting the current phase and current amplitude of the three-phase winding XE1 and the three-phase winding XE2, the rotating speed of the rotor 5E can be adjusted.

[0073] 2. The control circuit 3E controls the suspension height of the rotor 5E through the magnetic suspension winding YE1 to be ZE1, the control circuit 3E controls the suspension height of the rotor 5E through the magnetic suspension winding YE2 to be ZE2, and the control circuit 3E controls the suspension height of the rotor 5E through the magnetic suspension winding YE3 to be ZE3; if ZE1 = ZE2 = ZE3, it indicates that the rotor 5E and the bottom of the stator 1E are in a parallel relative state, and the suspension height of the rotor 5E will be in a stable state; if there is an inequality among ZE1 to ZE3, it will cause the rotor 5E to tilt, and since the tilting principle and control adjustment mode are the same as those of the second embodiment, they will not be described here.

[0074] FromFigures 11 to 13 It can be known that the sixth embodiment of the disc motor of the application is basically consistent with the fifth embodiment, and the difference is in the following four points:

[0075] First, the winding unit 2F is nine, and the nine winding units 2F are arranged in a symmetrical manner on a circumference.

[0076] Second, the stator coils 22F of the nine winding units 2F form three three-phase windings, specifically, the stator coil 22F1, the stator coil 22F2 and the stator coil 22F3 form a first three-phase winding XF1, the stator coil 22F4, the stator coil 22F5 and the stator coil 22F6 form a second three-phase winding XF2, and the stator coil 22F7, the stator coil 22F8 and the stator coil 22F9 form a third three-phase winding XF3, and the control circuit 3F controls the rotating speed of the rotor 5F through the three-phase winding XF1, the three-phase winding XF2 and the three-phase winding XF3;

[0077] Third, the magnetic suspension coils 23F of every three adjacent winding units 2F form a magnetic suspension winding, and the control circuit 3F controls the suspension height of the rotor 5F through the three magnetic suspension windings, specifically, the magnetic suspension coil 23F1, the magnetic suspension coil 23F2 and the magnetic suspension coil 23F3 form a first magnetic suspension winding YF1, the magnetic suspension coil 23F4, the magnetic suspension coil 23F5 and the magnetic suspension coil 23F6 form a second magnetic suspension winding YF2, and the magnetic suspension coil 23F7, the magnetic suspension coil 23F8 and the magnetic suspension coil 23F9 form a third magnetic suspension winding YF3, and the control circuit 3F controls the suspension height of the rotor 5F through the magnetic suspension winding YF1, the magnetic suspension winding YF2 and the magnetic suspension winding YF3.

[0078] Fourth, the position sensor 4F is six, and two position sensors 4F are arranged above each three-phase winding, and at this time, two position sensors 4F are arranged to match every three stator teeth 21F, so as to realize the monitoring of the suspension height control of the rotor 5F by each three-phase winding.

[0079] The application process of the sixth embodiment is basically the same as that of the fifth embodiment, and specifically as follows:

[0080] 1. The control circuit 3F controls the rotating speed of the rotor 5F through the three-phase winding XF1, the three-phase winding XF2 and the three-phase winding XF3, wherein by adjusting the current phase and current amplitude of the three-phase winding XF1, the three-phase winding XF2 and the three-phase winding XF3, the rotating speed of the rotor 5F can be adjusted;

[0081] 2、control circuit 3F controls the height of the rotor 5F suspension through the magnetic suspension winding YF1, control circuit 3F controls the height of the rotor 5F suspension through the magnetic suspension winding YF2, control circuit 3F controls the height of the rotor 5F suspension through the magnetic suspension winding YF3; if ZF1=ZF2=ZF3, it indicates that the rotor 5F and the bottom of the stator 1F are in parallel relative state, and the suspension height of the rotor 5F will be in a stable state; and if there is inequality in ZF1 to ZF3, it will cause the rotor 5F to tilt, and since its tilting principle and control adjustment mode are the same as the second embodiment, it is not described again.

[0082] In summary, the disc motor described in the embodiments of the application has at least the following beneficial effects:

[0083] 1、Realize the suspension rotation of the rotor, avoid heating and wear due to mechanical friction; in particular, the disc motor can be applied to a ventricular assist device, so the characteristics of rotor suspension and no mechanical bearing will reduce the damage to blood, thereby improving the compatibility of blood;

[0084] 2、Realize the angle tilt and overturn control of the rotor, thereby meeting the application requirements of adjusting the posture of the motor in multiple ways;

[0085] 3、The control circuit is integrated between the stator coil and the rotor, which reduces the space occupied by the control circuit and improves the compactness of the disc motor.

[0086] 4、Realize the multi-point control of the rotor suspension height, such as the formation of three-phase windings in the second embodiment to form the multi-point control of the rotor suspension height, and such as the formation of three three-phase windings in the third embodiment, and the formation of three magnetic suspension windings in the fifth and sixth embodiments to form the three-point control of the rotor suspension height, so that three or more control points are set, the overturning adjustment control of the rotor to multiple angles can be realized, and the range of posture adjustment of the rotor is further improved.

[0087] The above is the preferred embodiment of the application, and it should be pointed out that for ordinary skilled persons in the technical field, several improvements and refinements can be made without departing from the principles of the application, and these improvements and refinements are also considered within the protection scope of the application.

Claims

1. A disc-type motor characterized by comprising: The motor comprises a stator, a rotor, a position sensor and a control circuit; The stator comprises winding units, and the winding units are six in number, and each three adjacent winding units form a three-phase winding; The position sensor is opposite to the rotor, and the position sensor is used to detect the rotating speed and levitation height of the rotor; The control circuit is electrically connected with the winding units and the position sensor, and the control circuit is used to receive the detection results of the position sensor and control the rotating speed and levitation height of the rotor through the winding units; Six winding units are symmetrically arranged along a circumference, each winding unit comprises a stator coil, and the control circuit can control the stator coils of any three adjacent winding units to form a three-phase winding, so as to form six three-phase windings; The stator coils of the six winding units are sequentially first stator coil, second stator coil, third stator coil, fourth stator coil, fifth stator coil and sixth stator coil along the circumference, and the control circuit can adjust the posture of the rotor, and the method for adjusting the posture of the rotor by the control circuit comprises: The control circuit controls the levitation height of the rotor to be a first height based on a first three-phase winding and controls the levitation height of the rotor to be a second height based on a second three-phase winding at a first time, the first three-phase winding is composed of the first stator coil, the second stator coil and the third stator coil controlled by the control circuit, and the second three-phase winding is composed of the fourth stator coil, the fifth stator coil and the sixth stator coil controlled by the control circuit; The control circuit controls the levitation height of the rotor to be a third height based on a third three-phase winding and controls the levitation height of the rotor to be a fourth height based on a fourth three-phase winding at a second time, the third three-phase winding is composed of the sixth stator coil, the first stator coil and the second stator coil controlled by the control circuit, and the fourth three-phase winding is composed of the third stator coil, the fourth stator coil and the fifth stator coil controlled by the control circuit; The control circuit controls the levitation height of the rotor to be a fifth height based on a fifth three-phase winding and controls the levitation height of the rotor to be a sixth height based on a sixth three-phase winding at a third time, the fifth three-phase winding is composed of the fifth stator coil, the sixth stator coil and the first stator coil controlled by the control circuit, and the sixth three-phase winding is composed of the second stator coil, the third stator coil and the fourth stator coil controlled by the control circuit; When at least one of the first height, the second height, the third height, the fourth height, the fifth height and the sixth height is not equal, the control circuit controls the winding units to adjust the posture of the rotor.

2. The disc electric machine according to claim 1, characterized in that, The control circuit controls the rotating speed and levitation height of the rotor by changing the current phase and current amplitude of the stator coil.

3. The disc electric machine according to claim 1, characterised in that, The winding unit further comprises a stator tooth, and the stator coil is mounted on the stator tooth; the stator tooth of each winding unit penetrates through the control circuit and fixes the mounting position of the control circuit.

4. The disc electric machine of claim 1, characterized in that, Each of the three-phase winding corresponds to the position sensor.

5. The disc electric machine of claim 1, characterized in that, The position sensor is six, and six position sensors are arranged between the stator coils of every two adjacent winding units.

6. The disc electric motor according to claim 1, characterized by The winding unit further comprises a stator tooth and a magnetic suspension coil, and the stator coil and the magnetic suspension coil are mounted on the stator tooth; The control circuit controls the rotating speed of the rotor by changing the current phase and current amplitude of the stator coil, and controls the suspension height of the rotor by changing the current phase and current amplitude of the magnetic suspension coil.

7. The disc electric motor according to claim 6, characterized in that The magnetic suspension coils of every two adjacent winding units form a magnetic suspension winding, and the control circuit controls the suspension height of the rotor through three magnetic suspension windings.

8. The disc electric machine according to any of claims 2 to 7, characterized in that The control circuit is arranged in a plate shape, and the control circuit is arranged opposite to the rotor, and the position sensor is arranged on the side of the control circuit facing the rotor.

9. A control method of a disc-type motor, characterized by, The disc motor comprises a stator, a rotor, a position sensor and a control circuit, the stator comprises six winding units, the six winding units are arranged in a symmetrical manner along a circumference, each winding unit comprises a stator coil, the stator coils of the six winding units are sequentially first stator coil, second stator coil, third stator coil, fourth stator coil, fifth stator coil and sixth stator coil along the circumference, the position sensor is used to detect the suspension height of the rotor, and the control method comprises: The control circuit controls three-phase winding composed of any three winding units; The control circuit receives the detection result of the position sensor; The control circuit controls the suspension height of the rotor according to the detection result and the three-phase winding; The control circuit controls the suspension height of the rotor according to the detection result and the three-phase winding, which comprises: The control circuit controls the suspension height of the rotor to be a first height based on a first three-phase winding and controls the suspension height of the rotor to be a second height based on a second three-phase winding at a first time, the first three-phase winding is composed of the first stator coil, the second stator coil and the third stator coil controlled by the control circuit, and the second three-phase winding is composed of the fourth stator coil, the fifth stator coil and the sixth stator coil controlled by the control circuit; The control circuit controls the suspension height of the rotor to be a third height based on a third three-phase winding and controls the suspension height of the rotor to be a fourth height based on a fourth three-phase winding at a second time, the third three-phase winding is composed of the sixth stator coil, the first stator coil and the second stator coil controlled by the control circuit, and the fourth three-phase winding is composed of the third stator coil, the fourth stator coil and the fifth stator coil controlled by the control circuit; The control circuit controls the suspension height of the rotor to be a fifth height based on a fifth three-phase winding and a sixth height based on a sixth three-phase winding at the third time, the fifth three-phase winding being composed of the fifth stator coil, the sixth stator coil and the first stator coil, and the sixth three-phase winding being composed of the second stator coil, the third stator coil and the fourth stator coil; When at least one of the first height, the second height, the third height, the fourth height, the fifth height and the sixth height is not equal, the control circuit controls the winding unit to adjust the posture of the rotor.

10. The control method according to claim 9, characterized by, The control circuit controls any three winding units to form a three-phase winding, including: The control circuit can control any three adjacent winding units to form a three-phase winding, so as to form six three-phase windings.

11. The control method according to claim 9 or 10, characterized by, The control circuit controls the suspension height of the rotor according to the detection result and the three-phase winding, including: The control circuit changes the current phase and current amplitude of the stator coil according to the detection result to control the suspension height of the rotor.

12. The control method according to claim 9, characterized by, The position sensor is also used to detect the rotating speed of the rotor, and the control method further includes: The control circuit also controls the rotating speed of the rotor according to the detection result and the three-phase winding.

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