A modular motor

Abstract

The application discloses a rotor modular motor, which comprises a stator and a rotor arranged in the stator, and an air gap exists between the stator and the rotor; the rotor comprises a rotating shaft located in the center of the rotor; the rotor further comprises a plurality of rotor modules and a plurality of self-adjusting magnetic modules distributed outside the rotating shaft; the rotor modules are in a whole fan ring structure, and rectangular gaps exist between adjacent rotor modules; each rotor module comprises a rotor core and a permanent magnet embedded in the rotor core; the permanent magnet is tangentially magnetized, and the magnetization directions of all the permanent magnets are the same; the self-adjusting magnetic modules are located in the gaps; the self-adjusting magnetic modules comprise a weak magnetic part made of a magnetic conductive material and an adjusting part made of an elastic element; the weak magnetic part and the rotating shaft are connected by the adjusting part. The rotor modular motor can realize self-adjustment of a motor permanent magnetic field and winding inductance following a motor rotating speed without an additional control device.

Description

Technical Field

[0001] This invention belongs to the field of electric motors, and in particular relates to a modular rotor motor. Background Technology

[0002] Permanent magnet motors (PMMs) offer advantages such as good control performance, fast dynamic response, and high efficiency, and have been widely used in electric vehicles, multi-electric aircraft, and processing equipment. To improve overall system performance, PMMs not only need to output high torque at low speeds but also need the ability to operate at high speeds. A common method to achieve high torque output is to increase the motor's magnetic load, i.e., increase the permanent magnet flux linkage. However, this can lead to excessively high winding voltage at high speeds, exceeding power supply limits and preventing the motor from operating.

[0003] The mainstream approach to resolving the conflict between high torque and high speed is to improve the control algorithm of permanent magnet motors. When the motor operates at low speed, a control strategy based on the maximum torque-to-current ratio is used to output high torque. When the motor operates at high speed, a field-weakening control strategy is employed, causing the armature magnetic field generated by a portion of the current to be opposite in direction to the permanent magnet magnetic field, thereby reducing the motor's magnetic field and suppressing winding voltage. The main problem with this method is that the current generating the field-weakening effect cannot produce output torque but does generate losses, reducing the motor's efficiency at high speeds. Furthermore, when a winding or converter malfunctions, the field-weakening current disappears, but the permanent magnet magnetic field remains, causing a sudden and significant increase in winding voltage, posing a risk of further damage to the motor or control equipment. On the other hand, the field-weakening effect of the field-weakening current is closely related to the motor winding inductance; the larger the winding inductance, the better the field-weakening effect.

[0004] In existing improved motor designs, a magnetic adjustment block made of magnetically conductive material is used to adjust the permanent magnet magnetic field to solve the above problems. For example, Chinese Patent No. CN106787307A discloses a rotor-adjustable flux-switching motor, including a stator and a rotor. Both the stator and rotor adopt a salient pole structure. The rotor includes a rotor magnetic pole module, a magnetic isolation block, a magnetic adjustment block, and a shaft. The rotor magnetic pole module includes two rotor teeth and a permanent magnet. The permanent magnet is embedded between the two rotor teeth. The permanent magnet is tangentially magnetized, and the magnetization direction of adjacent permanent magnets is consistent. A magnetic isolation block is embedded between adjacent rotor magnetic pole modules.

[0005] In the aforementioned rotor-type flux-switching motor, an annular magnetic adjustment air gap exists between the permanent magnet and the shaft. A magnetic adjustment block, smaller than the size of the annular air gap, is embedded within this gap. As the motor speed increases, the magnetic adjustment block slides circumferentially within the annular air gap, partially closing the permanent magnet circuit and thus partially weakening the motor's magnetic field without requiring a weakening current. However, the magnetic adjustment block cannot move autonomously within the annular air gap following the motor's speed, and due to inertia, it is subject to external interference during acceleration and deceleration. Therefore, additional control devices such as electromagnets are needed to control the position of the magnetic adjustment block. However, since the magnetic adjustment block is located on the high-speed rotating motor rotor, it requires a conversion mechanism such as brushes and slip rings to connect to the control device. Furthermore, brushes and slip rings can negatively impact the motor's lifespan and reliability. On the other hand, in the above-mentioned rotor-modulated flux-switching motor, the adjacent rotor teeth are separated by permanent magnets, air gaps and magnetic isolation blocks. The armature magnetic circuit has high magnetic resistance, resulting in low winding inductance, which makes it impossible to further increase the motor's operating speed through weak magnetic current.

[0006] In existing solutions, the autonomous sliding of the magnetic adjustment module can be achieved through a spring. For example, Chinese Patent CN101702543A discloses a disc-type permanent magnet motor rotor capable of automatic magnetic weakening, connecting the permanent magnet and a spring to achieve autonomous movement of the permanent magnet's position at different speeds. Another example is Chinese Patent CN106489230A, which discloses an electric generator with a movable magnetic flux guide, connecting a magnetic guide block and a spring. At high speeds, the magnetic guide block autonomously contacts the permanent magnet due to centrifugal effect, short-circuiting part of the permanent magnet's magnetic flux and achieving magnetic weakening.

[0007] However, the above-mentioned technology has the following drawbacks in the scheme of adjusting the magnetic field by sliding the spring: (1) When the motor speed changes too quickly (such as short circuit fault, rapid start-stop, etc.) or the spring fails, the permanent magnet is at risk of impact. The permanent magnet itself is brittle and easily breaks, resulting in the scrapping of the entire motor rotor. (2) In the above-mentioned technical solution, the permanent magnet, the magnetic guide block and the slide of the adjusting magnetic field module are in the same tangential position, which leads to a spatial competition relationship between the permanent magnet, the magnetic guide block and the slide, and the sum of the lengths of the three is constant. If the length of the permanent magnet is reduced, the motor flux linkage will be reduced, resulting in a decrease in the output torque at low speed; if the length of the magnetic guide block or the slide is reduced, the field weakening capability will be reduced, resulting in a decrease in the maximum operating speed of the motor. (3) The existing technical solution does not address the need for the winding inductance to adjust autonomously with the motor speed. Among the aforementioned methods for adjusting the permanent magnet magnetic field, some technical solutions only adjust the position of the permanent magnet in the air slide. However, since the magnetic permeability of permanent magnets and air is similar, this method cannot be used to adjust the winding inductance. In other technical solutions, although the magnetic guide block theoretically has the potential to provide a magnetic circuit for the armature magnetic field, the size of the magnetic guide block in these structures is limited, and the contact range with the rotor core is too small, resulting in a large magnetic resistance of the magnetic circuit, which cannot play the role of adjusting the winding inductance. Summary of the Invention

[0008] The technical problem to be solved by the present invention is to propose a modular rotor motor that can achieve autonomous adjustment of the permanent magnet magnetic field and winding inductance of the motor in accordance with the motor speed without the need for additional control devices.

[0009] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows: a modular rotor motor, including a stator and a rotor disposed inside the stator, wherein there is an air gap between the stator and the rotor; the rotor includes a rotating shaft located at its center, characterized in that: the rotor further includes multiple rotor modules and multiple self-adjusting magnet modules distributed outside the rotating shaft; the rotor module is generally in the shape of a fan-shaped ring structure, and there is a rectangular gap between adjacent rotor modules; each rotor module includes a rotor core and a permanent magnet embedded in the rotor core, the permanent magnet is tangentially magnetized, and all the permanent magnets are magnetized in the same direction; the self-adjusting magnet module is located in the gap, and the self-adjusting magnet module includes a magnetic weakening part made of magnetically conductive material and an adjusting part made of elastic element, the magnetic weakening part and the rotating shaft being connected by the adjusting part.

[0010] To guide the autonomous movement of the self-adjusting magnet module within the air gap, a further improvement of the present invention is that the self-adjusting magnet module also includes a guide portion made of a non-magnetic material, which is located at one end near the air gap, and the end of the guide portion near the rotating shaft is connected to the weakening magnet portion. Simultaneously, at low motor speeds, only the non-magnetic guide portion contacts the rotor core, without affecting the original permanent magnet magnetic field and armature magnetic field.

[0011] A further improvement of the present invention is that the outer surface of the rotating shaft is provided with inwardly recessed mounting grooves at positions corresponding to the rectangular gaps. The inner side of the adjusting part is connected to the bottom of the mounting grooves, and the outer side of the adjusting part is connected to the magnetic weakening part. When the rotating shaft speed is lower than the design threshold, the adjusting part and the magnetic weakening part are located in the mounting grooves, and only the non-magnetic guide part contacts the rotor core. The self-adjusting magnetic module does not affect the magnetic circuit of the motor. When the rotating shaft speed is higher than the design threshold, the adjusting part extends autonomously due to the centrifugal effect. At this time, the magnetically conductive magnetic weakening part enters the rectangular gap and contacts the rotor core. The permanent magnet flux forms a closed-loop path on the rotor through the magnetic weakening part and the rotor core.

[0012] A further improvement of the present invention is that each rotor module comprises two fan-shaped annular rotor cores, with the permanent magnet sandwiched between the two rotor cores; a magnetic bridge connecting the two adjacent rotor cores exists on the side of the permanent magnet near the air gap. When the motor operates at high speed, the permanent magnet flux is diverted by the self-adjusting magnetic module, reducing the magnetic field saturation of the magnetic bridge. This provides an additional flux path for the armature magnetic field, increasing the winding inductance, enhancing the ability of the weakening current to regulate the motor's magnetic field, and further increasing the motor's operating speed. Simultaneously, the magnetic bridge also serves to fix the position of the permanent magnet, preventing displacement due to centrifugal effect.

[0013] A further improvement of this invention is that the number of rotor modules is set to α, and the number of self-adjusting magnetic modules is set to β, satisfying: α = β, that is, the rotor modules and self-adjusting magnetic modules are arranged alternately in the circumferential direction. When the number of rotor modules and self-adjusting magnetic modules is the same, most of the permanent magnet flux can form a closed loop through the rotor core and the self-adjusting magnetic modules, and no longer enter the stator core and armature winding turns, which can significantly reduce the winding voltage and increase the maximum operating speed of the motor.

[0014] A further improvement of the present invention is that the number of rotor modules is set to α, and the number of self-adjusting magnetic modules is set to β, satisfying that: α is divisible by α-β and α-β>1; adjacent α÷(α-β) rotor modules are marked as a group; all rotor modules are equally divided into α-β groups; each group of rotor modules contains β÷(α-β) self-adjusting magnetic modules. When the motor runs at high speed, each group of rotor modules forms a connected magnetic flux path through the self-adjusting magnetic modules, while the magnetic circuits between different groups of rotor modules remain disconnected. At this time, although most permanent magnet flux can still enter the stator core and armature winding turns, the number of pole pairs of the motor becomes 1 / α÷(α-β) of the original, resulting in a significant reduction in the winding coefficient. Some magnetic fluxes in different armature coils are mutually canceled, achieving the purpose of reducing the winding voltage and increasing the maximum operating speed of the motor.

[0015] A further improvement of the present invention is that a limiting portion extends from the rotor core near the air gap, and the limiting portion is positioned close to the air gap. This limiting portion serves a protective function, preventing the self-adjusting magnet module from entering the motor air gap due to spring failure.

[0016] A further improvement of the present invention is that a snap-fit ​​portion extends from the rotor core near the rotating shaft, and the rotating shaft is provided with a corresponding snap-fit ​​groove, forming a snap-fit ​​structure between the rotor core and the rotating shaft. This snap-fit ​​structure is used to strengthen the connection between the rotor module and the rotating shaft, thereby improving the mechanical strength of the rotor.

[0017] A further improvement of the present invention is that the stator includes an armature winding and a stator core, the armature winding being located within stator slots formed by the stator core, and the armature winding being a single-layer distributed winding; the stator core has tooth tips. To improve the winding coefficient of an integer-slot motor, a distributed winding is preferable. Simultaneously, the single-layer winding arrangement allows each armature coil to be separated by the stator core, which helps improve the motor's fault tolerance. Each coil crosses the other coils only twice at the ends, which helps reduce the winding end length, reduce copper usage, reduce winding copper losses, and improve motor efficiency. The tooth tips provide an additional magnetic flux path for the armature magnetic field, which helps increase the winding inductance, improve the magnetic field regulation capability of the weak magnetic current, and increase the motor's operating speed.

[0018] A further improvement of this invention is that the number of stator slots is set to S, the number of permanent magnets is set to N, and the number of winding phases is set to M, satisfying: S = 2kNM, where k is a positive integer. The equivalent number of poles of the motor is set to P. Since the magnetization direction of all permanent magnets in this invention is the same, P = 2N is satisfied. When S = 2kNM, i.e., S = kPM, the motor has an integer slot structure, resulting in less harmonic content of the distorted magnetomotive force generated by the armature winding, less loss, and higher motor efficiency.

[0019] Compared with the prior art, the advantages of the present invention are as follows:

[0020] (1) The self-adjusting magnetic module in this invention uses a mechanical magnetic weakening part to weaken the magnetic field. Utilizing centrifugal effect and elastic elements, the magnetic weakening part can move radially autonomously in the gap between rotor modules without the need for additional control devices.

[0021] (2) The field weakening section can provide a new magnetic flux path for the armature magnetic field, reduce the magnetic resistance of the armature magnetic circuit, and play the role of increasing the winding inductance on its own. This helps to enhance the ability of the field weakening current to regulate the motor magnetic field and further improve the operating speed of the motor.

[0022] (3) There is no spatial competition between the field weakening section and the permanent magnet. Therefore, large permanent magnets and large field weakening sections can be used at the same time. The large permanent magnet can increase the output torque at low speeds, while the large field weakening section can improve the adjustment effect of the permanent magnet magnetic field and winding inductance at high speeds.

[0023] (4) There is no direct physical contact between the permanent magnet and the self-adjusting magnet module, which avoids the risk of permanent magnet impact caused by excessive changes in motor speed or spring failure, and improves the reliability of the motor.

[0024] (5) The number of self-adjusting magnetic modules is more flexible and no longer needs to be the same as the number of permanent magnets. By changing the number of self-adjusting magnetic modules, the number of pole pairs of the motor can be flexibly adjusted to achieve the purpose of weakening the magnet.

[0025] In summary, this invention achieves the goal of autonomously adjusting the permanent magnet magnetic field and winding inductance of the motor in accordance with the motor speed. At low speeds, the motor exhibits characteristics of high flux linkage and low inductance, i.e., high output torque and high power factor; at high speeds, the motor exhibits characteristics of low flux linkage and high inductance, i.e., high field weakening capability and high operating speed. Attached Figure Description

[0026] Figure 1 This is a cross-sectional schematic diagram of an embodiment of the present invention during low-speed operation;

[0027] Figure 2 This is a cross-sectional schematic diagram of an embodiment of the present invention during high-speed operation;

[0028] Figure 3 This is a cross-sectional schematic diagram of an embodiment of the present invention when the number of rotor modules and the number of self-adjusting magnetic modules are not equal;

[0029] Figure 4 This is a cross-sectional schematic diagram of an embodiment of the present invention when a limiting part exists in the gap between adjacent rotor modules;

[0030] Figure 5 This is a cross-sectional schematic diagram of the rotor core and shaft with a snap-fit ​​structure in an embodiment of the present invention. Detailed Implementation

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

[0032] like Figures 1-5 The figure shown is a preferred embodiment of the present invention.

[0033] Example 1

[0034] A type of modular rotor motor, such as Figure 1As shown, the system includes a stator and a rotor disposed inside the stator, with an air gap 3 between the stator and the rotor. The stator includes an armature winding 11 and a stator core 12. The armature winding 11 is located in a stator slot 13 formed by the stator core 12, and the armature winding 11 is a single-layer distributed winding. The stator core 12 has tooth tips 121 near the air gap 3. The rotor includes a rotating shaft 21 located at its center and multiple rotor modules 22 and multiple self-adjusting magnet modules 23 distributed outside the rotating shaft 21. The rotor module 22 has a fan-shaped annular structure. The rotor core 221 in each rotor module 22 includes two fan-shaped annular rotor cores 221. Permanent magnets 222 are sandwiched between the two rotor cores 221. The permanent magnets 222 are tangentially magnetized, and all permanent magnets 222 are magnetized in the same direction. The permanent magnet 222 has a magnetic bridge 225 connecting two adjacent rotor cores 221 on the side near the air gap 3. The permanent magnet flux path and direction in each rotor module 22 are as follows: Figure 1 As indicated by the middle arrow. The self-adjusting magnetic module 23 is located in the gap 24 between adjacent rotor modules 22. The self-adjusting magnetic module 23 consists of a guide part 233, a weakening magnetic part 231, and an adjusting part 232. The guide part 233 is located at the end of the self-adjusting magnetic module 23 near the air gap 3 and is made of a non-magnetic material. The weakening magnetic part 231 is connected to the end of the guide part 233 near the rotating shaft 21 and is made of a magnetic material. The adjusting part 232 is located at the end of the self-adjusting magnetic module 23 near the rotating shaft 21 and is used to connect the weakening magnetic part 231 and the rotating shaft 21. It is made of a spring.

[0035] The number of rotor modules 22 is α = 4, and the number of self-adjusting magnetic modules 23 is β = 4, i.e., α = β. The rotor modules 22 and self-adjusting magnetic modules 23 are arranged alternately in the circumferential direction. When the motor runs at low speed, the spring length is short, and only the non-magnetic guide part 233 contacts the rotor core 221, so it will not affect the magnetic circuit of the motor. At this time, the winding back electromotive force coefficient is 27.5V / krpm, and the winding phase inductance is 15.9mH. When the motor runs at high speed, due to the centrifugal effect, the spring extends autonomously, such as... Figure 2 As shown, the magnetically weakening part 231 and the rotor core 221 are in contact, and the permanent magnet flux can be formed on the rotor through the magnetically weakening part 231 and the rotor core 221, as shown. Figure 2 The closed-loop path indicated by the middle arrow means that most of the permanent magnet flux will not enter the stator core 12 and armature winding 11 turns, thus reducing the winding voltage. At this time, the winding back electromotive force coefficient is 1.7V / krpm, a 94% reduction compared to the low-speed case. Simultaneously, at high speeds, the field weakening section 231 also provides a new flux path for the armature magnetic field, reducing the magnetic reluctance of the armature magnetic circuit and increasing the winding inductance. At this time, the winding phase inductance is 17.5mH, a 10% increase compared to the low-speed case. This helps enhance the field weakening current's ability to regulate the motor's magnetic field, further increasing the motor's operating speed.

[0036] The stator has 24 stator slots (S=23), 4 permanent magnets (N=4), and 3 winding phases (M=3). Since all permanent magnets (222) are magnetized in the same direction, the equivalent pole number of the motor is P=2N=8, satisfying S=kPM, where k=1. This means the motor has an integer slot structure, resulting in low harmonic content of the distorted magnetomotive force generated by the armature winding (11), leading to low losses and high efficiency. The armature winding (11) is a single-layer distributed winding. The distributed winding design improves the winding coefficient of the integer slot motor, while the single-layer design provides physical isolation between coils, enhancing reliability. Furthermore, compared to double-layer distributed windings, each coil in a single-layer distributed winding overlaps with other coils only twice at the end, reducing winding end length, copper usage, and copper losses, thus improving motor efficiency. The stator core 12 has tooth tips 121, which provides a new magnetic flux path for the armature magnetic field. Compared with the toothless design, it can increase the winding inductance by 30%, which helps to enhance the ability of the weak magnetic current to regulate the motor magnetic field and facilitates further improvement of the motor speed.

[0037] Example 2

[0038] Unlike Embodiment 1, the number of self-tuning magnetic modules 23 is β = 2, therefore α - β = 2, α ÷ (α - β) = 2, β ÷ (α - β) = 1. Two adjacent rotor modules 22 are marked as a group, and all rotor modules 22 are divided into two groups on average. Each group of rotor modules 22 contains one self-tuning magnetic module 23. See [link to previous document]. Figure 3 As shown in the figure, when the motor is running at high speed, as indicated by the arrows in the figure, the field weakening section 231 provides a magnetic flux path for each group of internal rotor modules 22. The equivalent pole number P of the motor becomes half of the original, that is, P=4, which causes the winding coefficient to decrease. Some magnetic fluxes in different armature coils are canceled out by each other, and the winding back electromotive force coefficient is 19.2V / krpm, which is 30% lower than that at low speed.

[0039] Example 3

[0040] Unlike Embodiment 1, a limiting portion 223 extending from the rotor core 221 exists in the gap 24 between adjacent rotor modules 22. The limiting portion 223 is located close to the air gap 3. (See Figure 1) Figure 4 As shown. The limiting part 223 is used to limit the maximum displacement of the self-adjusting magnet module 23, so as to prevent the self-adjusting magnet module 23 from entering the air gap 3 due to spring failure and damaging the motor.

[0041] Example 4

[0042] Unlike Embodiment 1, the rotor core 221 extends a snap-fit ​​portion 224 near the shaft 21, and the shaft 21 has a corresponding snap-fit ​​groove. The rotor core 221 and the shaft 21 form a snap-fit ​​structure. (See Figure 1) Figure 5As shown. This snap-fit ​​structure is used to strengthen the connection between the rotor module 22 and the shaft 21, which can improve the mechanical strength of the rotor and ensure the stable operation of the motor.

Claims

1. A modular rotor motor, comprising a stator and a rotor disposed inside the stator, wherein an air gap (3) exists between the stator and the rotor; the rotor includes a rotating shaft (21) located at its center, characterized in that: The rotor also includes multiple rotor modules (22) and multiple self-adjusting magnetic modules (23) distributed outside the rotating shaft (21); the rotor module (22) is generally in the shape of a fan ring structure, and there is a rectangular gap (24) between adjacent rotor modules (22). Each rotor module (22) includes a rotor core (221) and a permanent magnet (222) embedded in the rotor core (221). The permanent magnet (222) is tangentially magnetized, and the magnetization direction of all permanent magnets (222) is the same; the self-adjusting magnetic module (23) is located in the gap (24). The self-adjusting magnetic module (23) includes a weak magnetic part (231) made of magnetically conductive material and an adjusting part (232) made of elastic element. The weak magnetic part (231) and the rotating shaft (21) are connected by the adjusting part (232). The self-adjusting magnetic module (23) also includes a guide part (233) made of non-magnetic material. The guide part (233) is located at one end near the air gap (3), and the end of the guide part (233) near the rotating shaft (21) is connected to the weak magnetic part (231). The outer surface of the rotating shaft (21) and the position corresponding to the rectangular gap (24) are provided with inwardly recessed mounting grooves. The inner side of the adjustment part (232) is connected to the bottom of the mounting groove, and the outer side of the adjustment part (232) is connected to the magnetic weakening part (231). When the rotation speed of the rotating shaft (21) is lower than the design threshold, the adjustment part (232) and the magnetic weakening part (231) are located in the mounting groove, and only the non-magnetic guide part (233) contacts the rotor core (221). The self-adjusting magnetic module (23) does not affect the magnetic circuit of the motor. When the rotation speed of the rotating shaft (21) is higher than the design threshold, the adjustment part (232) extends autonomously due to the centrifugal effect. At this time, the magnetically conductive magnetic weakening part (231) enters the rectangular gap (24) and forms a closed loop path on the rotor with the rotor core (221) through the magnetic weakening part (231) and the rotor core (221). Each rotor module (22) includes two fan-shaped rotor cores (221), and the permanent magnet (222) is sandwiched between the two rotor cores; the permanent magnet (222) has a magnetic bridge (225) connecting the two adjacent rotor cores (221) on the side of the air gap (3).

2. The modular rotor motor according to claim 1, characterized in that, The number of rotor modules (22) is set to α The number of the self-adjusting magnet modules (23) is set to β ,satisfy: α = β That is, the rotor module (22) and the self-adjusting magnet module (23) are arranged alternately in the circumferential direction.

3. The modular rotor motor according to claim 1, characterized in that, The number of rotor modules (22) is set to α The number of the self-adjusting magnet modules (23) is set to β ,satisfy: α Can be α - β Divisible and α - β >1, adjacent α ÷( α - β ) rotor modules (22) are labeled as a group, and all said rotor modules (22) are divided into equal parts. α - β Groups, each group of rotor modules (22) contains β ÷( α - β ) the self-adjusting magnetic module (23).

4. The modular rotor motor according to claim 1, characterized in that, The rotor core (221) extends a limiting part (223) on the side near the gap (24), and the limiting part (223) is located near the air gap (3).

5. The modular rotor motor according to claim 1, characterized in that, The rotor core (221) extends a snap-fit ​​portion (224) on the side near the rotating shaft (21), and the rotating shaft (21) is provided with a corresponding snap-fit ​​groove, and the rotor core (221) and the rotating shaft (21) form a snap-fit ​​structure.

6. The modular rotor motor according to claim 1, characterized in that, The stator includes an armature winding (11) and a stator core (12). The armature winding (11) is located in a stator slot (13) formed by the stator core (12). The armature winding (11) is a single-layer distributed winding. The stator core (12) has tooth tips (121) near the air gap (3).

7. The modular rotor motor according to claim 6, characterized in that, The number of stator slots (13) is set to S The number of permanent magnets (222) is set to N The number of winding phases is set to M ,satisfy: S =2 KNM ,in k It is a positive integer.

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