Magnetic levitation unmanned boat

Abstract

The present application relates to a kind of magnetic levitation unmanned speedboat, comprising: hull, including bow and the stern being oppositely arranged with the bow;Power system, including two magnetic levitation centrifugal pumps with opposite fluid rotation direction, each of the magnetic levitation centrifugal pump has a fluid outlet, two the magnetic levitation centrifugal pump is spaced apart on the hull and is symmetrically arranged with the connecting line of the bow and stern as symmetry line, and the fluid outlet of two the magnetic levitation centrifugal pump is arranged in the opposite direction with the bow;Flywheel stabilization system, set in hull to stabilize the hull.The magnetic levitation unmanned speedboat can generate thrust and differential thrust on speedboat by two magnetic levitation centrifugal pumps, improve reliability;In addition, by setting flywheel stabilization system in hull, further can form the hull of speedboat to reduce, damping and overall stability, further improve the reliability of speedboat, and improve the safety performance of speedboat.

Description

Technical Field

[0001] This invention relates to the field of transportation technology, and more particularly to magnetically levitated unmanned speedboats. Background Technology

[0002] Speedboats in related technologies typically use conventional power units (such as jet propulsion) to generate thrust and propel them forward. However, when speedboats travel in water, the enormous resistance of the water and the random undulations of the water surface can all hinder them from increasing their speed and affect their reliability and safety. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an improved magnetic levitation unmanned speedboat.

[0004] The technical solution adopted by this invention to solve its technical problem is: This invention constructs a magnetically levitated unmanned speedboat, comprising:

[0005] The hull includes the bow and the stern disposed opposite the bow;

[0006] The power system includes two magnetically levitated centrifugal pumps whose fluid rotation directions can be set in opposite directions. Each magnetically levitated centrifugal pump has a fluid outlet. The two magnetically levitated centrifugal pumps are spaced apart on the hull and symmetrically arranged with the line connecting the bow and stern as the line of symmetry. The fluid outlets of the two magnetically levitated centrifugal pumps are both set in the opposite direction to the bow.

[0007] A flywheel stabilization system is installed in the hull to stabilize the hull.

[0008] In some embodiments, the magnetically levitated centrifugal pump includes a pump body and two stator drive controllers; the pump body has an axial direction, and the two stator drive controllers are disposed on two opposite sides of the pump body and are coaxially arranged with the pump body;

[0009] The pump body includes a pump casing and an impeller disposed in the pump casing. A rotor structure is embedded in the impeller. The rotor structure interacts with the two stator drive controllers to drive the impeller to rotate and make the pump body suspended.

[0010] The pump casing has a pump cavity, and the impeller is housed in the pump cavity;

[0011] The pump casing is provided with a fluid input pipe and a fluid output pipe, which are respectively connected to the pump cavity. The fluid input pipe is arranged opposite to the rotation center of the impeller, the fluid output pipe is located on the circumferential trajectory of the impeller rotation, and the fluid outlet is formed at one end of the fluid output pipe.

[0012] In some embodiments, the rotor structure has 2p magnetic poles, where p is the number of pole pairs;

[0013] Each of the stator drive controllers includes a stator structure and a three-phase winding disposed on the stator structure; the stator structure has 2p+2 magnetic poles, where p is the number of pole pairs; the three-phase winding has three winding branches, each winding branch forming a phase winding, and having a start end and a tail end; each winding branch is formed by two windings symmetrically arranged at 180 degrees in parallel, and the tail end of each winding branch is connected to the midpoint of the three-phase winding;

[0014] The two three-phase windings in the two stator drive controllers are mirror-symmetrically arranged with the rotation center of the impeller as the center of symmetry, and are connected in parallel.

[0015] In some embodiments, the rotor structure has 2p magnetic poles, where p is the number of pole pairs;

[0016] Each of the stator drive controllers includes a stator structure having 2p+2 magnetic poles, where p is the number of pole pairs.

[0017] In some embodiments, the impeller includes a first turbine blade and a second turbine blade stacked with the first turbine blade, and the rotor structure is disposed between the first turbine blade and the second turbine blade.

[0018] In some embodiments, the pump chamber is provided with a first fluid channel and a second fluid channel; the first fluid channel and the second fluid channel are located axially on the impeller and are respectively located on two opposite sides of the impeller.

[0019] In some embodiments, the pump housing includes a first housing and a second housing assembled with the first housing; the pump cavity is formed between the first housing and the second housing;

[0020] The fluid input pipe is located at the central axis of the first housing, with one end connected to the pump chamber and the other end having a fluid inlet.

[0021] And / or, the second housing has a protrusion at its central axis that protrudes away from the first housing, and the second housing has a balancing cavity formed inside the protrusion and communicating with the pump cavity.

[0022] In some embodiments, the pump casing includes an inner wall and an outer wall spaced apart from the outer periphery of the inner wall, the pump cavity is defined by the inner wall, the fluid output pipe is disposed on the outer wall, and an overflow port is provided on the inner wall, the overflow port being connected to the pump cavity to allow fluid in the pump cavity to be output to the fluid output pipe.

[0023] In some embodiments, the flywheel stabilization system includes a magnetically levitated flywheel motor;

[0024] The magnetic levitation flywheel motor includes a stator assembly, a rotor assembly, a protective bearing assembly, and stator windings;

[0025] The stator assembly includes at least three stator core segments arranged coaxially, with the at least three stator core segments arranged side by side along the axial direction; the ratio of the number of slots to the number of phases of the stator core is an even number;

[0026] The rotor assembly is partially disposed within the stator structure and is coaxially disposed with the stator structure;

[0027] The stator windings are wound on all the stator cores of the stator assembly, and have at least two phase windings, and each phase winding has a winding branch formed by the parallel connection of windings that are symmetrically distributed at 180°.

[0028] A predetermined gap is provided between the protective bearing assembly and the rotor assembly.

[0029] In some embodiments, the magnetic levitation flywheel motor includes a motor housing with a vacuum-configurable receiving cavity, in which the stator assembly and the rotor assembly are housed.

[0030] The magnetic levitation unmanned speedboat of this invention has the following beneficial effects: The magnetic levitation unmanned speedboat has two magnetic levitation centrifugal pumps symmetrically arranged on its hull with opposite directions along the line of symmetry between the bow and stern. The fluid outlets of these two pumps face the opposite direction to the bow, thereby generating thrust and differential thrust for the speedboat. By simply increasing the rotational speed, flow rate, and pressure of the magnetic levitation centrifugal pumps, the speedboat's thrust can be significantly increased, thus improving its speed and reliability. Furthermore, by incorporating a flywheel stabilization system within the hull, the speedboat's hull roll is reduced, axial movement is damped, and overall stability is achieved, further enhancing its reliability and safety performance. Attached Figure Description

[0031] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings:

[0032] Figure 1 These are schematic diagrams of the structure of the magnetically levitated unmanned speedboat in some embodiments of the present invention;

[0033] Figure 2 yes Figure 1 The side view of the magnetically levitated unmanned speedboat shown.

[0034] Figure 3 yes Figure 1 A cross-sectional view of the power system of the magnetically levitated unmanned speedboat shown.

[0035] Figure 4 yes Figure 3 A cross-sectional view of the pump body of the magnetic levitation centrifugal pump in the power system shown.

[0036] Figure 5 yes Figure 3 A schematic diagram of the fluid flow direction of the pump body of the magnetic levitation centrifugal pump in the power system shown.

[0037] Figure 6 yes Figure 3 A schematic diagram of the impeller and rotor structure of the magnetic levitation centrifugal pump in the power system shown.

[0038] Figure 7 yes Figure 3 A schematic diagram of the stator drive controller of the magnetic levitation centrifugal pump in the power system shown.

[0039] Figure 8 yes Figure 7 A schematic diagram of the structure of the stator drive controller of the magnetic levitation centrifugal pump in the power system shown, in conjunction with the rotor structure in the pump body.

[0040] Figure 9 yes Figure 3 A partial cross-sectional view of the stator drive controller of the magnetic levitation centrifugal pump in the power system shown.

[0041] Figure 10 yes Figure 3 A schematic diagram of the winding method on the stator drive controller of the magnetic levitation centrifugal pump in the power system shown.

[0042] Figure 11 yes Figure 1 A partial structural schematic diagram of the magnetically levitated unmanned speedboat shown.

[0043] Figure 12 yes Figure 11 The diagram shows a partial structural schematic of the magnetic levitation flywheel stabilization system of the magnetically levitated unmanned speedboat. Detailed Implementation

[0044] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0045] Figure 1 and Figure 2 Some preferred embodiments of the invented magnetically levitated unmanned speedboat are shown. This magnetically levitated unmanned speedboat is a natural electromagnetic levitation AI unmanned speedboat that can overcome the huge resistance of water and the random undulations of the water surface, and has good speed, maneuverability, stability and safety, as well as long service life and high quality.

[0046] like Figure 1 and Figure 2 As shown, in some embodiments, the magnetically levitated unmanned speedboat includes a hull 1, a power system 2, and a flywheel stabilization system 3. The hull 1 includes a bow 101 and a stern 102 opposite to the bow 101. A cabin 103 is formed inside the hull 1. The power system 2 is mounted on the hull 1 and is used to generate power to propel the hull 1 forward and turn. The flywheel stabilization system 3 is located in the hull 1, specifically in the cabin 103, and is used to reduce the swaying of the hull 1 and stabilize it. The magnetically levitated unmanned speedboat also includes a battery 4, which can be connected to the power system 2 and the flywheel stabilization system 3. The battery 4 can be located at the bottom of the hull 1. That is, in some embodiments, the battery 4, the power system 2, and the flywheel stabilization system 3 can all be installed underwater, thereby lowering the center of gravity of the hull 1 and improving heat dissipation.

[0047] like Figure 3 As shown, in some embodiments, the power system 2 includes two magnetically levitated centrifugal pumps 20, which are spaced apart on the hull 1. Specifically, the two magnetically levitated centrifugal pumps 20 can be located on the bottom of the hull and close to the stern 102. The two magnetically levitated centrifugal pumps 20 can be symmetrically arranged with the line connecting the bow 101 and the stern 102 as the line of symmetry, that is, arranged left and right. The magnetically levitated centrifugal pumps 20 are natural electromagnetic magnetic levitation turbine centrifugal pumps. The power system 2 can generate thrust and differential thrust on the hull 1 through the two symmetrically arranged centrifugal pumps 21, propelling the hull 1 forward. Furthermore, by simply increasing the rotational speed of the levitated centrifugal pumps 21, the flow rate and pressure of the magnetically levitated centrifugal pumps 20 can be increased, significantly enhancing the thrust of the speedboat and thus increasing its speed. The fluid rotation directions in the two magnetically levitated centrifugal pumps 20 can be set in opposite directions, thereby changing the thrust and achieving rapid left and right-hand drive control. In some embodiments, the thrust of two symmetrically arranged magnetic levitation centrifugal pumps 20 can be changed to achieve rapid drive control in the left and right directions, and the momentum change generated by the instantaneous change in the rotation speed of the two symmetrically arranged magnetic levitation centrifugal pumps 20 can be used to achieve rapid steering control of the hull 1.

[0048] like Figures 3 to 6As shown, in some embodiments, the magnetic levitation centrifugal pump 20 includes a pump body 21 and two stator drive controllers 22. The pump body 21 allows fluid to enter and exit, thereby generating power to propel the hull 10. The two stator drive controllers 22 are disposed on opposite sides of the pump body 21 and are coaxially arranged with the pump body 21. They are used to drive the impeller 212 in the pump body 21 to rotate, thereby driving the fluid movement.

[0049] Furthermore, in some embodiments, the pump body 21 can be a separate component. In some embodiments, the pump body 21 includes a pump casing 211 and an impeller 212. A pump cavity 2110 is formed inside the pump casing 211 to house the impeller 212 and allow fluid to flow in. The impeller 212 is disposed in the pump cavity 2110 and can rotate to drive the fluid to rotate. In some embodiments, a rotor structure 213 is embedded in the impeller 212. The rotor structure 213 interacts with two stator drive controllers 22 and can rotate in cooperation with the stator drive controllers 22, thereby driving the impeller 212 to rotate and causing the pump body 21 to be in a suspended state. In some embodiments, the fluid can be a liquid; of course, it is understood that in other embodiments, the fluid can also be a gas.

[0050] The pump housing 211 includes a first housing 211a and a second housing 211b; the first housing 211a is disposed on and assembled with the second housing 211b. The first housing 211a and the second housing 211b can be coaxially arranged, and both the first housing 211a and the second housing 211b have openings, which can be joined together. A pump chamber 2110 is disposed between the first housing 211a and the second housing 211b. In some embodiments, the pump housing 211 is provided with a fluid inlet pipe 2111 and a fluid outlet pipe 2112; specifically, the fluid inlet pipe 2111 is disposed on the first housing 211a and located on the end wall opposite to the first housing 211a and opposite to the second housing 211b, and located at the central axis of the first housing 211a. The fluid inlet pipe 2111 is cylindrical and can be installed perpendicular to the end wall of the first housing 211a, and is positioned opposite to the rotation center of the impeller 212. One end is connected to the pump chamber 2110, and the other end is provided with a fluid inlet 2112, which allows external fluid to flow into the fluid inlet pipe 2111 and then into the pump chamber 2110. The fluid outlet pipe 2113 is located on the side wall of the pump housing 211, specifically on the side walls of the first housing 211a and the second housing 211b, and is located on the circumferential trajectory of the impeller 212. The fluid outlet pipe 2113 is connected to the pump chamber 2110 and is used to supply fluid output, thereby generating thrust and differential thrust acting on the hull 1, thus propelling the hull 1 forward. In some embodiments, the fluid output pipe 2113 may extend partially from the stern 102 into the water, with a fluid outlet 2117 at one end. In some embodiments, the fluid outlets 2117 of the two magnetic levitation centrifugal pumps may be oriented in the opposite direction to the bow 101, so that fluid can be output in the same direction to generate thrust to propel the hull 1.

[0051] The pump casing 211 also includes an inner wall 211c and an outer wall 211d; the inner wall 211c can form a pressure equalization layer, and the outer wall 211d is disposed on the outer periphery of the inner wall 211c; that is, the sidewalls of the first casing 211a and the second casing 211b are both double-layered structures, and the pump cavity 2110 is defined by the inner wall 211c. In some embodiments, the inner wall 211c can be cylindrical, and the inner wall surface can be a smooth curved surface, that is, the pump cavity 2110 can be cylindrical, so that the fluid first reaches the inner wall 211c under the centrifugal force generated when the impeller 212 rotates. Since the inner wall 211c is a smooth curved surface, the centrifugal force on the inner wall surface of the inner wall 211c in the circumferential direction is uniform. The fluid output pipe 2113 is partially formed between the inner wall 211c and the outer wall 211d. In some embodiments, an overflow port 2114 is provided on the inner wall 211c. The overflow port 2114 can communicate with the pump chamber 2110 and the fluid output pipe 2113, and is used to output fluid from the pump chamber 2110 to the fluid output pipe 2113. There are multiple overflow ports 2114, which can be arranged at intervals along the circumference of the pump chamber 2110. When the impeller 212 rotates, the fluid can flow out evenly to the fluid output pipe 2113 along the circumferentially distributed overflow ports 2114. The outflowing fluid forms a conventional vortex shape after reaching the outer wall 211d to facilitate fluid outflow. Since the pump chamber 2110 has a double-layer structure, the centrifugal force is uniformly applied along the circumference. Therefore, the high-speed rotation of the impeller 212 simultaneously generates a radial liquid suspension force, causing the impeller 212 to be radially suspended. It should be noted that traditional centrifugal pumps do not have a pressure equalization layer. The impeller 212 rotates at high speed and generates uneven radial fluid eccentric force, causing the impeller 212 to deviate towards the fluid output pipe 2113. Therefore, an additional force is required to restore the eccentricity, which results in a certain power loss.

[0052] In some embodiments, a protrusion 2115 is provided at the central axis of the second housing 211b, and the protrusion 2115 protrudes toward a side away from the first housing 211a. The protruding end face of the protrusion 2115 can be an outwardly convex curved surface. When the pump body 211 is assembled with one of the stator drive controllers 22, the protrusion 2115 can be embedded in the groove 220 corresponding to the stator drive controller 22, thereby achieving assembly positioning with the stator drive controller 22 and improving assembly efficiency. A balancing cavity 2116 is provided in the second housing 211b. Specifically, the balancing cavity 2116 is formed inside the protrusion 2115 and communicates with the pump cavity 2110. Specifically, it is coaxially arranged with the fluid input pipe 2111. Due to the presence of the balance chamber 2116, the fluid input from the fluid input pipe 2111 can enter the balance chamber 2116. Under the action of the impeller 212 rotation, the fluid flows tangentially along the side wall of the pump casing 211 and flows out through the fluid output pipe 2113 located on the pump casing 211.

[0053] In some embodiments, the pump housing 211 may be entirely made of engineering plastic or non-magnetic metal material, that is, the first housing 211a, the second housing 211b, the fluid inlet pipe 2111, and the fluid outlet pipe 2113 may all be made of engineering plastic or non-magnetic metal material. The engineering plastic material may be one or more of the following: modified polytetrafluoroethylene, polyimide, and silicon-based polymer materials.

[0054] In some embodiments, the impeller 212 includes a first turbine blade 2121 and a second turbine blade 2122. The first turbine blade 2121 and the second turbine blade 2122 are respectively disposed on two opposite sides of the rotor structure 213 and form an integral structure with the rotor structure 213. The first turbine blade 2122 is disk-shaped and may include a first disk body 212a with a central hole and a plurality of first blade bodies 212b disposed on the first disk body 212a. The plurality of first blade bodies 212b are circumferentially spaced along the first disk body 212a and protrude from the first disk body 212a in a direction away from the rotor structure 213 along the axial direction of the first disk body 212a. Each first blade body 212b may be generally arc-shaped. The second turbine blade 2122 is stacked on top of the first turbine blade 2121 and includes a second disk 212c with a central hole and a plurality of second blade bodies 212d disposed on the second disk 212c. The plurality of second blade bodies 212d are spaced apart circumferentially along the second disk 212c and protrude from the second disk 212c axially away from the rotor structure 213. Each second blade body 212d can be approximately arc-shaped. The impeller 212 adopts an open vortex structure, that is, there is no connecting and fixing structure between the impeller 212 and the pump casing 211. Once the impeller 212 rotates, the fluid will simultaneously generate an upward axial liquid thrust component, which plays the role of axial liquid suspension and radial inertial stable suspension. Among them, the axial liquid suspension force can overcome most of the gravity, making the energy requirement of axial active natural magnetic levitation very small, almost without energy consumption.

[0055] In some embodiments, the rotor structure 213 is disposed between the first turbine blade 2121 and the second turbine blade 2122, and is tightly connected to the first turbine blade 2121 and the second turbine blade 2122 to form an integral structure. In this embodiment, the rotor structure 213 can be an annular permanent magnet sheet for transmitting torque. By enclosing the permanent magnet sheet in the impeller 212, corrosion of the permanent magnet sheet by the fluid in the pump chamber 2110 can be avoided. In some embodiments, the material of the permanent magnet sheet can be sintered NdFeB, bonded NdFeB material, or other high energy product permanent magnets, and the permanent magnet sheet does not require a back iron, thereby reducing the weight of the rotor structure 213.

[0056] In some embodiments, the rotor structure 213 has 2p magnetic poles, where p is the number of pole pairs. Specifically, in some embodiments, p can be 2, meaning the rotor structure can have four magnetic poles, with N and S poles alternating. Of course, it is understood that in other embodiments, p is not limited to 2.

[0057] In some embodiments, the pump chamber 2110 is provided with a first fluid channel 214 and a second fluid channel 215. The first fluid channel 214 and the second fluid channel 215 are disposed axially on the impeller 212 and respectively on two opposite sides of the impeller 212. Specifically, the first fluid channel 214 is located between the impeller 212 and the end wall of the first housing 211a; the second fluid channel 215 is located between the impeller 212 and the end wall of the second housing 211b. The first fluid channel 214 and the second fluid channel 215 are symmetrically arranged, and their flow velocities and directions are almost the same. Therefore, when the impeller 212 rotates at high speed, it generates two symmetrical fluid flows, and at the same time generates axial fluid suspension forces that are symmetrical in the upper and lower directions but opposite in direction, such as axial liquid suspension force or gas suspension force, thereby making the impeller 212 axially suspended.

[0058] like Figures 7 to 10 As shown, in some embodiments, the two stator drive controllers 22 include a first stator drive controller 22a and a second stator drive controller 22b; wherein, one of the second stator drive controllers 22b may be disposed on the side of the pump body 21 where the second housing 211b is provided, and the protrusion 2116 may be partially embedded in the groove 220 provided at the central axis of the second stator drive controller 22b. The first stator drive controller 22a may be sleeved on the first housing 211a of the pump body 21, and the fluid input pipe 2111 may extend out from the stator drive controller 22. The two stator drive controllers 22 may be locked together by providing a simple locking structure, which in some embodiments may be a snap-fit ​​structure, a threaded structure, or other conventional locking structures.

[0059] Specifically, in some embodiments, each stator drive controller 22 may include a housing 221, a stator structure 222 disposed in the housing 221, and a three-phase winding 223 disposed on the stator structure 222. The housing 221 is an open structure with an assembly opening 2211 and an inner accommodating cavity 2212 for accommodating the stator structure 222. When the stator drive controller 22 is assembled with the pump body 21, the assembly opening 2211 may face the pump body 21. The two stator structures 222 in the two stator drive controllers 22 may cooperate with the rotor structure 213 to drive the rotor structure 213 to rotate, thereby driving the impeller 212 to rotate, which can constitute a dual-stator axial magnetic circuit motor. The winding currents of the two stator structures 222 are the same, and they share a single rotor structure 222 to generate tangential torque. The stator structure 222 can be approximately circular, and its diameter coincides with that of the rotor structure 213, enabling radial passive magnetic levitation between the stator structure 222 and the rotor structure 213, thus providing them with the ability to maintain concentricity. By setting three-phase windings 223 with a specific winding pattern on the stator structure 222, the rotor structure 213 can achieve radial active natural magnetic levitation. The two three-phase windings 223 in the two stator drive controllers 22 are mirror-symmetrically arranged with the rotation center of the impeller 212 as the center of symmetry, and are connected in parallel, thereby enabling the rotor structure 213 to achieve axial active natural magnetic levitation. In other words, the impeller 212 in the pump body 21 can achieve both radial and axial magnetic levitation, allowing it to actively, naturally, and uniformly recover or stabilize in the central position. This improves the reliability of the entire magnetic levitation centrifugal pump, eliminates the need for bearings, and reduces the manufacturing cost of the magnetic levitation centrifugal pump. In addition, by setting two stator drive controllers 22 to drive the impeller 213 located in the pump cavity 2110 to rotate, a magnetic levitation centrifugal pump is formed. This makes the space utilization of the magnetic levitation centrifugal pump high, which is conducive to making the overall shape tend to be flat, and thus helps to expand the scope of application scenarios.

[0060] In some embodiments, the stator structure 222 includes a first stator core 2221, a second stator core 2222, and a core post 2223. The first stator core 2221 may be formed by stacking high-silicon steel sheets. The first stator core 2221 may be annular. The second stator core 2222 is generally fan-shaped and sheet-like. There may be multiple second stator cores 2222. In some embodiments, there may be six second stator cores 2222. The core post 2223 may be columnar, with a generally fan-shaped cross-section and a radial dimension smaller than that of the second stator core 2222. The core post 2223 may be formed by winding high-silicon steel sheets. There can be multiple core posts 2223. Specifically, in some embodiments, there are six core posts 2223. The six core posts 2223 are arranged at intervals along the circumference of the first stator core 2221, and the height direction of the core posts 2223 is perpendicular to the plane where the first stator core 2221 is located. Each core post 2223 corresponds one-to-one with a second stator core 2222, that is, one end of the core post 2223 is connected to the first stator core 2221, and the other end is connected to the second stator core 2222. It is understood that in other embodiments, the number of second stator cores 2222 and core posts 2223 is not limited to six.

[0061] In some embodiments, the stator structure 222 has 2p+2 magnetic poles, where p is the number of pole pairs. In some embodiments, p can be equal to 2, that is, the stator structure 222 can have 6 magnetic poles. Of course, it is understood that in some other embodiments, the stator structure 222 is not limited to having 6 magnetic poles, and p is not limited to being equal to 2. The two stator structures 222 and the rotor structure 213 in the impeller 212 constitute a dual-stator axial magnetic circuit motor, which is a dispersed slot concentrated winding motor, for example: 2P=4 poles, Z=6 slots motor, where Z is the number of slots, with small positioning torque, high efficiency, power density, and high reliability. In some embodiments, the diameter of the magnetic poles of the stator structure 222 can be smaller than the diameter of the magnetic poles of the rotor structure 213, so that the radial passive magnetic levitation of the impeller 212 is radially stable passive magnetic levitation.

[0062] In some embodiments, the polar arc of the stator structure 222 is (0.9~0.75)τ. d / Z = (0.9~0.75)360° / 6 = (0.9~0.75)60°; the pole arc of this rotor structure 213 is (1.0~0.85)τ r / 2P = (1.0~0.85)360° / 4 = (1.0~0.85)90°. The pole arcs of stator structure 222 result in gaps between adjacent stator structure 222 pole arcs. Insulating material can be added to these gaps to make the surface of the stator structure 222 pole arcs flat and smooth, thereby reducing fluid resistance in the magnetic levitation centrifugal pump.

[0063] In some embodiments, both stator structures 222 of the two stator drive controllers 22 exert axial attraction on the rotor structure 213 in the impeller 212. Only when the rotor structure 213 is coaxial with the two stator structures 222 and centrally located between them, is the attraction between each stator structure 222 and the rotor structure 213 equal to the attraction between the other stator structure 222 and the rotor structure 213. If any deviation exists in the air gap between the two sides of the rotor structure 213, the rotor structure 213 will be attracted to the side with the smaller air gap. Therefore, when the magnetic levitation centrifugal pump is in a static and initial state, the rotor structure 213 will be randomly attracted to the side with the smaller air gap, meaning the rotor structure 213 is axially unstable. It is necessary to ensure that the rotor structure 213 is actively magnetically levitated in the axial direction. In the stator drive controller 22, the three-phase windings 223 on the two stator structures 222 are mirror-symmetrically arranged and connected in parallel with the rotation center of the impeller as the center of symmetry. This allows the back electromotive force of the three-phase winding 223 on the side with the smaller air gap in the rotor structure 213 to increase and the three-phase current to decrease. Conversely, the back electromotive force of the three-phase winding 223 on the side with the larger air gap to decrease and the three-phase current to increase. As a result, the axial tension on the side with the larger air gap increases and the axial tension on the side with the smaller air gap decreases, which inevitably causes the axial air gap to change in the direction of decreasing deviation and stabilizes the air gap deviation. Therefore, after the impeller 212 starts to rotate, it can have the function of axial natural magnetic levitation.

[0064] In some embodiments, the three-phase winding 223 is wound on the core column 2223 of the stator structure 222. The three-phase winding 223 has three winding branches, each winding branch forming a phase winding and having a start end and a tail end. Each winding branch can be formed by two windings symmetrically arranged at 180 degrees in parallel, and the tail end of each winding branch is connected to the midpoint of the three-phase winding 223. Specifically, U1 and U2 on stator structure 222 are connected in parallel to form phase U, that is, the two windings U1 and U2 that are 180° symmetrical in phase U are connected at their beginning ends and the end ends are connected to the midpoint O of the three-phase winding 223 to form a parallel branch of phase U winding; V3 and V4 on stator structure 222 are connected in parallel to form phase V, that is, the two windings V3 and V4 that are 180° symmetrical in phase V are connected at their beginning ends and the end ends are connected to the midpoint O of the three-phase winding 223 to form a parallel branch of phase V winding; W4 and W5 on stator structure 222 are connected in parallel to form phase W, that is, the two windings W5 and W6 that are 180° symmetrical in phase W are connected at their beginning ends and the end ends are connected to the midpoint O of the three-phase winding 223 to form a parallel branch of phase W winding; thus, each of the three-phase windings U, V, and W has a 180° symmetrical parallel branch. When the air gap is uniform, the current in any 180° symmetrical parallel branch is the same. When the air gap deviates, the air gap between a certain 180° symmetrical parallel branch deviates, the back EMF of the side with the smaller air gap increases, and the back EMF of the side with the larger air gap decreases. As a result, the current in the branch with the smaller air gap decreases, and the current in the branch with the larger air gap increases. This leads to a decrease in electromagnetic pull on the side with the smaller current and an increase in electromagnetic pull on the side with the larger current. This causes the rotor structure 213 to move radially in the direction of restoring uniform air gap, achieving the effect of natural electromagnetic levitation. Each phase of the three-phase winding 223 has a 180° symmetrical parallel branch, forming a special three-phase winding. When the motor rotates, this three-phase winding can actively, naturally, and uniformly restore or stabilize the rotor structure 213 at the center position from six radially evenly distributed positions (Z=6). This is the effect of "radial natural electromagnetic levitation".

[0065] Two stator structures 222 use the same rotor structure 213, and the two three-phase windings 223 are mirror-symmetrically arranged with the rotation center of the impeller 213 as the center of symmetry, and are connected in parallel to form a special double-stator three-phase winding. When the rotor structure 213 rotates, this double-stator three-phase winding can automatically adjust the current of each stator structure 222 when there is an eccentricity between the stator structure 222 and the rotor structure 213. A smaller air gap results in a larger back EMF and a smaller stator structure 222 current, while a larger air gap results in a smaller back EMF and a larger stator structure 222 current. This actively, naturally, and uniformly restores or stabilizes the rotor in the axial center position. This is the effect of "axial natural electromagnetic levitation." In some embodiments, the winding coefficient k of the three-phase winding 223... w1 =0.866.

[0066] In some embodiments, the stator drive controller 22 contains built-in drive and control circuitry, with only three external connections (e.g., power +, power ground, and USB), ensuring high reliability. The flat magnetic levitation centrifugal pump can operate independently or connect to an external system control system via a three-wire interface. Parameters such as voltage, current, rotor speed, pressure, and flow rate can be read via a USB serial port interface for use by the intelligent control system. The magnetic levitation centrifugal pump has a compact and simple structure, high reliability, high control performance, and intelligent diagnostic capabilities.

[0067] Such as 11 and Figure 12 As shown, in some embodiments, the flywheel stabilization system 3 includes a flywheel stabilizer and a magnetic levitation flywheel motor 30, which can be installed in the ship's hold 103 and connected to the flywheel stabilizer.

[0068] The magnetic levitation flywheel motor 30 is an internal rotor flywheel motor and a fractional-slot concentrated winding motor, including a motor housing 31, a stator assembly 32, a rotor assembly 34, and a stator winding 33. The motor housing 31 has a vacuum-configurable receiving cavity 310, meaning the receiving cavity 310 can be a vacuum chamber, and the stator assembly 32 and rotor assembly 34 can be housed within this receiving cavity 310, i.e., the stator assembly 32 and rotor assembly 34 can be sealed and installed within the vacuum chamber. The stator assembly 32 can cooperate with the rotor assembly 34 to drive the rotor assembly 34 to rotate. The stator winding 33 is wound on the stator assembly 32. The rotor assembly 34 can provide momentum through rotation. In some embodiments, the rotor assembly 34 includes a rotor core 341 and a permanent magnet 342 passing through the rotor core 341. The rotor core 341 is located within the stator assembly 32 and is coaxially arranged with the stator assembly 32. The permanent magnet 342 extends from both ends of the rotor core 341, forming shaft portions. In some embodiments, the magnetic levitation flywheel motor further includes a protective bearing assembly, which may include two protective bearings 35. The two protective bearings 35 are disposed on two opposite end walls of the motor housing 31 and may be respectively disposed in correspondence with the two shaft portions of the permanent magnet 342. Each protective bearing 35 may be sleeved on the outer periphery of each shaft portion. A predetermined gap is left between the protective bearing assembly and the rotor assembly 34. Specifically, a predetermined gap is left between each protective bearing and the permanent magnet 342 in the radial direction, and the width of the predetermined gap may be 0.05~1.0mm. In some embodiments, the protective bearing 35 may be a conventional bearing.

[0069] In some embodiments, the stator assembly 32 includes five coaxially arranged stator core segments 321. It is understood that in other embodiments, the stator core 321 is not limited to five segments and may be three, four, or more than five segments. By dividing the stator assembly 32 into three or more segments, the rotor assembly 34 located within the stator assembly 32 can easily obtain axial passive magnetic levitation capability. In some embodiments, the five stator core segments 321 may be integrally formed or cut from a pre-fabricated stator core 321. It is understood that in other embodiments, the five stator core segments 321 may also be independent and sheet-like stator cores 321.

[0070] In some embodiments, the stator winding 33 is wound on all stator cores 321, meaning the stator winding 33 does not need to be segmented along with the stator core segments; slots in the same row of slots arranged axially can share a single winding. The ratio Z / m of the number of slots to the number of phases in the stator core 321 of this magnetic levitation flywheel motor is even, and the stator winding is a three-phase winding. However, it is understood that in other embodiments, the stator winding is not limited to a three-phase winding; the number of phases can be two-phase, four-phase, or more than four-phase. Therefore, each phase winding of this type of motor has a winding branch formed by parallel connections of windings symmetrically distributed at 180°, which can generate a 180° symmetrical torque couple. The stator winding 33 is divided into multiple pairs of windings symmetrically distributed along a 180° circumference. The maximum number of winding pairs per phase is Kpm = Z / (2m). All 180° symmetrically distributed windings of each phase are connected in parallel to form symmetrical parallel branch windings. The principle of parallel connection is as follows: when the number of pole pairs P is even, the two parallel branch windings are connected in parallel at the beginning and end (opposite-named ends); when P is odd, the two parallel branch windings are connected in parallel at the beginning and end (same-named ends). One end of the two parallel branch windings is used as the midpoint of the phase winding. The stator winding 33 of this magnetic levitation flywheel motor forms 180° symmetrical parallel branches in this way, thus generating three-phase ports of the stator winding and a midpoint of the stator winding. That is, a special 180° symmetrical parallel branch is finally formed. Each phase winding of the magnetic levitation flywheel motor has one or more pairs of 180° symmetrical parallel branches. The current in these 180° symmetrical parallel branches is the same in principle when there is no deviation in the air gap of the stator assembly 32 and the rotor assembly 34.

[0071] As is well known, there is an attractive force between the stator assembly 32 and the rotor assembly 34. If the magnetic levitation flywheel motor has bearings, the air gap between the stator assembly 32 and the rotor assembly 34 can be kept equal, and the attractive force is equal everywhere along the circumference. The bearings make the radial attractive force in the air gap of the magnetic levitation flywheel motor equal everywhere and cancel each other out. However, assuming the magnetic levitation flywheel motor rotates, and in this embodiment the magnetic levitation flywheel motor has no mechanical bearings, when there is a deviation in the air gap between the two opposite sides of the rotor assembly 34, the rotor assembly 34 will be attracted to the side with the smaller air gap. The back electromotive force of the parallel branch on the side with the smaller air gap increases, and the current decreases. Conversely, the back electromotive force of the parallel branch on the side with the larger air gap decreases, and the current increases. Thus, the radial tension on the side with the larger air gap increases, and the radial tension on the side with the smaller air gap decreases, which inevitably causes the air gap to change in the direction of the smaller deviation and stabilizes the air gap deviation. Therefore, after the magnetic levitation flywheel motor starts rotating, the rotor assembly 34 has the ability to radially and naturally magnetically levitate and realign. When the magnetic levitation flywheel motor is not started, in the initial state, the rotor assembly 34 will be randomly attracted to the side with the smaller air gap. When the magnetic levitation flywheel motor is not started, the rotor assembly 34 is radially unstable. Therefore, the magnetic levitation flywheel motor uses a start-up protection bearing 35. Without any attached sensors and controllers, the magnetic levitation flywheel motor has complete dynamic radial natural electromagnetic levitation and passive axial magnetic levitation functions using traditional motor drive methods.

[0072] In some embodiments, the magnetic levitation flywheel motor 30 is provided with a flywheel stabilizer mechanical interface 36. The flywheel stabilizer mechanical interface 36 may be located on one end wall of the motor housing 31 and protrude outward from the end wall, located at the central axis of the motor housing 31, and coaxially arranged with the permanent magnet 342. In some embodiments, the magnetic levitation flywheel motor 30 is provided with an electrical interface 38, which is connected to the stator winding 33 for connecting to an external power supply.

[0073] The magnetic levitation flywheel motor has a simple and reliable mechanical structure and control circuit, incorporating radial active natural magnetic levitation technology and axial passive magnetic levitation technology. The combined effect of these two technologies ensures the flywheel has a sufficiently strong natural levitation capability. In some specific applications, the rated speed of the magnetic levitation flywheel motor can be 15000 rpm, the angular momentum can be 1000 NmS, the anti-roll torque can be 2500 Nm, the energy storage capacity can be 150 Wh, the energy storage rate can be 10 W / s, and the energy storage and discharge time can be 0.1-7200 s. The magnetic levitation flywheel motor can be connected to an intelligent monitoring and protection module. The rotating rotor assembly 34 has a tendency to maintain its axis position. The magnetic levitation flywheel motor can provide anti-roll protection for the hull 1, suppressing its rolling motion. In some specific embodiments, the radius of the rotor core 341 can be 260 mm, the height of the rotor core 341 can be 50 mm, the rotational speed of the rotor core 341 can be 20,000 rpm, and the restoring torque of the rotor core 341 is 1820 kg·m.

[0074] By adding a flywheel stabilization system, energy can be quickly recovered from changes in the rotational speed of the magnetically levitated unmanned speedboat (braking, steering, deceleration), and stored for acceleration of the magnetically levitated unmanned speedboat, greatly optimizing energy utilization and management.

[0075] It is understood that the above embodiments only illustrate preferred embodiments of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can freely combine the above technical features without departing from the concept of the present invention, and can also make several modifications and improvements, all of which fall within the protection scope of the present invention. Therefore, all equivalent transformations and modifications made with respect to the scope of the claims of the present invention should fall within the scope of the claims of the present invention.

Claims

1. A magnetically levitated unmanned speedboat, characterized in that, include: The hull (1) includes a bow (101) and a stern (102) disposed opposite to the bow (101). The power system (2) includes two magnetically levitated centrifugal pumps (20) whose fluid rotation directions can be arranged in opposite directions. Each magnetically levitated centrifugal pump (20) has a fluid outlet (2117). The two magnetically levitated centrifugal pumps (20) are spaced apart on the hull (1) and symmetrically arranged with the line connecting the bow (101) and the stern (102) as the line of symmetry. The fluid outlets (2117) of the two magnetically levitated centrifugal pumps (20) both face the opposite direction to the bow (101). The magnetic levitation centrifugal pump (20) includes a pump body (21) and two stator drive controllers (22). The pump body (21) has an axial direction, and the two stator drive controllers (22) are located on opposite sides of the pump body (21) and are coaxially arranged with the pump body (21). The pump body (21) includes a pump casing (211) and an impeller (212) disposed in the pump casing (211). A rotor structure (213) is embedded in the impeller (212). The substructure (213) interacts with the two stator drive controllers (22) to drive the impeller (212) to rotate and to suspend the pump body (21); the pump housing (211) has a pump cavity (2110), in which the impeller (212) is housed; the pump housing (211) includes an inner wall (211c) and an outer wall (211d) spaced apart from the outer periphery of the inner wall (211c); the pump cavity (211... 0) Defined by the inner wall (211c), a fluid output pipe (2113) is provided on the outer wall (211d); an overflow port (2114) is provided on the inner wall (211c), and there are multiple overflow ports (2114). The multiple overflow ports (2114) are arranged at intervals along the circumference of the pump cavity (2110) and are connected to the pump cavity (2110) to output the fluid in the pump cavity (2110) to the fluid output pipe (2113). A flywheel stabilization system (3) is installed in the hull (1) to stabilize the hull (1).

2. The magnetically levitated unmanned speedboat according to claim 1, characterized in that, The pump casing (211) is provided with a fluid input pipe (2111), the fluid input pipe (2111) and the fluid output pipe (2113) are respectively connected to the pump cavity (2110), the fluid input pipe (2111) is arranged opposite to the rotation center of the impeller (212), the fluid output pipe (2113) is located on the circumferential trajectory of the impeller (212) rotation, and the fluid outlet (2117) is formed at one end of the fluid output pipe (2113).

3. The magnetically levitated unmanned speedboat according to claim 2, characterized in that, The rotor structure (213) has 2p magnetic poles, where p is the number of pole pairs; Each of the stator drive controllers (22) includes a stator structure (222) and a three-phase winding (223) disposed on the stator structure (222). The stator structure (222) has 2p+2 magnetic poles, where p is the number of pole pairs; the three-phase winding (223) has three winding branches, each winding branch forming a phase winding, and having a start end and a tail end; each winding branch is formed by two windings symmetrically arranged at 180 degrees in parallel, and the tail end of each winding branch is connected to the midpoint of the three-phase winding; the two three-phase windings (223) in the two stator drive controllers (22) are mirror-symmetrically arranged with the rotation center of the impeller (212) as the center of symmetry, and are connected in parallel.

4. The magnetically levitated unmanned speedboat according to claim 2, characterized in that, The rotor structure (213) has 2p magnetic poles, where p is the number of pole pairs; Each of the stator drive controllers (22) includes a stator structure (222) having 2p+2 magnetic poles, where p is the number of pole pairs.

5. The magnetically levitated unmanned speedboat according to claim 2, characterized in that, The impeller (212) includes a first turbine blade (2121) and a second turbine blade (2122) stacked with the first turbine blade (2121), and the rotor structure (213) is disposed between the first turbine blade (2121) and the second turbine blade (2122).

6. The magnetically levitated unmanned speedboat according to claim 2, characterized in that, The pump chamber (2110) is provided with a first fluid channel (214) and a second fluid channel (215); the first fluid channel (214) and the second fluid channel (215) are located on the axial direction of the impeller (212) and are respectively provided on two opposite sides of the impeller (212).

7. The magnetically levitated unmanned speedboat according to claim 2, characterized in that, The pump housing (211) includes a first housing (211a) and a second housing (211b) assembled with the first housing (211a); the pump cavity (2110) is formed between the first housing (211a) and the second housing (211b); The fluid input pipe (2111) is located at the central axis of the first housing (211a), with one end connected to the pump chamber (2110) and the other end provided with a fluid inlet (2112). And / or, the second housing (211b) has a protrusion at its central axis that protrudes away from the first housing (211a), and the second housing (211b) has a balancing cavity (2116) formed inside the protrusion and communicating with the pump cavity (2110).

8. The magnetically levitated unmanned speedboat according to claim 4, characterized in that, The flywheel stabilization system (3) includes a magnetic levitation flywheel motor (30); The magnetic levitation flywheel motor (30) includes a stator assembly (32), a rotor assembly (34), a protective bearing assembly, and a stator winding (33). The stator assembly (32) includes at least three stator cores (321) arranged coaxially, with the at least three stator cores (321) arranged side by side along the axial direction; the ratio of the number of slots to the number of phases of the stator cores (321) is an even number; The rotor assembly (34) is partially disposed in the stator structure (222) and is coaxially disposed with the stator structure (222); The stator winding (33) is wound on all the stator cores (321) of the stator assembly (32), and has at least two phase windings, and each phase winding has a winding branch formed by the parallel connection of windings symmetrically distributed at 180°. A set gap is provided between the protective bearing assembly and the rotor assembly (34).

9. The magnetically levitated unmanned speedboat according to claim 8, characterized in that, The magnetic levitation flywheel motor (30) includes a motor housing (31), in which a vacuum-configurable receiving cavity (310) is provided, and the stator assembly (32) and the rotor assembly (34) are housed in the receiving cavity (310).

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