A reverse design method of special-shaped permanent magnetic spring with self-definable force-displacement characteristic

Abstract

This invention provides a reverse design method for irregularly shaped permanent magnet springs with customizable force-displacement characteristics, belonging to the field of gravity compensation and vibration isolation technology. First, the desired force-displacement characteristic curve f is constructed. desire (z), and obtain its spatial frequency domain function F. desire (f z ), to ensure F desire (f z The magnet possesses compact or near-compact support. Then, two two-dimensional magnet sheets are selected as the initial stator sheet and the initial mover sheet, respectively, to obtain their initial spatial frequency domain function F. layers (f z ), guarantee F layers (f z The process begins by determining the magnetization curve of the mover magnet and obtaining the magnetization curve of the stator magnet, based on the magnetization curves of the mover and stator magnets. Then, the stator layer set and the mover layer set are obtained based on these magnetization curves. These actual stator layer sets and the actual mover layer sets are then combined to form the final magnet groups, completing the reverse design of the irregular permanent magnet spring. This invention solves the problem of designing irregular permanent magnet springs with no customizable force-displacement characteristics in existing technologies.

Description

Technical Field

[0001] This invention belongs to the fields of gravity compensation and vibration isolation technology. More specifically, it relates to a magnetostrictive negative stiffness spring, a magnetostrictive gravity compensator, and a magnetostrictive nonlinear magnetic mechanism. More specifically, it relates to a reverse design method for irregular permanent magnet springs with customizable force-displacement characteristics. Background Technology

[0002] Magnetostrictive springs or magnetostrictive levitation technology using permanent magnet materials offer advantages such as non-contact operation, frictionlessness, and no material fatigue, making them promising for applications in precision vibration isolation, gravity compensation, and ultra-precision positioning systems. They are particularly suitable for applications requiring frictionless elastic force. However, the force-displacement characteristics of magnetic springs are generally highly nonlinear, with their approximate linear region often only a few millimeters wide. This significantly limits their wider application.

[0003] To date, no scholar has proposed a reverse design method for irregularly shaped permanent magnet springs with customizable force-displacement characteristics. Most existing magnetic spring design methods first determine the basic configuration of the stationary and moving permanent magnets, and then iterate through and optimize the dimensional parameters. Moreover, the permanent magnets used are limited to standard shapes such as rectangular, cylindrical, and toroidal magnets, making it difficult to customize the force-displacement characteristics according to specific application requirements.

[0004] In addition, with the development of CNC machining technology and powder metallurgy technology, the manufacturing process of irregularly shaped magnets has become more sophisticated, and the cost is almost the same as that of standard-shaped permanent magnets.

[0005] Therefore, a reverse design method for irregular permanent magnet springs with customizable force-displacement characteristics is needed. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the present invention aims to provide a reverse design method for irregularly shaped permanent magnet springs with customizable force-displacement characteristics. By providing a novel design method, the desired force-displacement characteristics of the mover of the irregularly shaped permanent magnet spring when it moves in a specific direction can be obtained, thus solving the problem of how to design irregularly shaped permanent magnet springs without customizable force-displacement characteristics in existing technologies.

[0007] To achieve the above objectives, this invention provides a reverse design method for irregularly shaped permanent magnet springs with customizable force-displacement characteristics, comprising the following steps:

[0008] Step 1: Construct the desired force-displacement characteristic curve f desire (z), f desire (z) It must satisfy the condition of absolute integrability.

[0009] Step 2: Analyze the desired force-displacement characteristic curve f desire(z) Perform a Fourier transform to obtain its spatial frequency domain function F. desire (f z ), f z It is the spatial frequency variable corresponding to the independent variable z. The unit is 1 / m, where m refers to the meter, a unit of length. desire (f z The function should possess tight support or near-tight support, meaning that the spatial frequency domain function exists within an interval where its value is not zero, and outside this interval, its value is zero or sufficiently small. This tight support interval is denoted as (f...). z,-lim ,f z,+lim ),

[0010] If the above conditions are not met, return to step 1 and reconstruct the desired force-displacement characteristic curve f. desire (z),

[0011] Step 3: Select two two-dimensional magnet layers, which will serve as the initial stator layer and the initial mover layer, respectively. The two magnet layers are located in the same plane perpendicular to the z-axis, are parallel and do not overlap, and the magnetization directions of the initial stator magnet layer and the initial mover magnet layer are in the same plane.

[0012] Step 4: Calculate the initial interlayer magnetic force f between the initial stator magnet layers and the initial mover magnet layers. layers (z), and perform a Fourier transform on it to obtain its corresponding initial spatial frequency domain function F. layers (f z ), f z It is the spatial frequency variable corresponding to the independent variable z. The unit is 1 / m, where m refers to the meter, a unit of length.

[0013] Step 5: Determine the initial spatial frequency domain function F layers (f z Does the tight support range or near-tight support range contain (f)? z,-lim ,f z,+lim ),

[0014] If this condition is not met, return to step 3 and reselect initial stator magnet sheets and initial mover magnet sheets of different sizes, magnetization directions, or shapes.

[0015] If the conditions are met, proceed to step 6.

[0016] Step 6: Determine the magnetization curve m of the mover magnet mover (z) is subjected to a Fourier transform to obtain the frequency domain function M of the mover magnet corresponding to the magnetization curve of the mover magnet. mover (f z ),

[0017] According to the frequency domain function M of the moving magnet mover (f z ) Calculate the frequency domain function M corresponding to the stator magnetization intensity curve. sta t or (f z ), for M stator (f z Perform an inverse Fourier transform to obtain the stator magnetization curve m stator (z),

[0018] The stator magnetization curve and the mover magnetization curve refer to the functions that map the remanent magnetization of each magnet layer to its z-axis coordinate when the stator magnet and mover magnet are decomposed into multiple two-dimensional magnet layers perpendicular to the z-axis.

[0019] Step 7: Decompose the stator magnet into multiple two-dimensional magnet layers perpendicular to the z-axis, ensuring that the remanence of each two-dimensional magnet layer as a function mapping its z-axis coordinate matches the magnetization curve of the stator magnet. Replace each two-dimensional magnet layer obtained from the decomposition with one or more actual magnet layers of different sizes and / or positions, and denote the set of all actual magnet layers as the actual stator layer set {layers}. stator};

[0020] Step 8: Using and obtaining the actual set of stator layers {layers} stator The same method is used to obtain the set of magnetic layers that replace all the moving magnets, which is the actual set of moving layers {layers}. mover The actual moving layer includes one actual magnet sheet, or the actual moving layer includes multiple actual magnet sheets of different sizes and / or positions, each actual magnet sheet having a remanence of B. r,mover ,

[0021] Step 9: Set the actual stator layer set {layers} stator} and the actual set of sub-layers {layers mover Each component forms its final magnet assembly, resulting in the stator magnet assembly and mover magnet assembly for the irregularly shaped permanent magnet spring. This completes the reverse design of the irregularly shaped permanent magnet spring. When the mover magnet moves along the z-axis, the magnetic spring exhibits the desired force-displacement characteristics. desire (z).

[0022] Furthermore, in step 6, based on the frequency domain function M of the moving magnet... mover (f z ) Calculate the frequency domain function M corresponding to the stator magnetization intensity curve. stator (f z )as follows:

[0023] M stator (f z ) = F desire (f z )[F layers (f z )·M mover (f z )] -1 .

[0024] Furthermore, in step 7, when each two-dimensional magnet sheet obtained by decomposition is replaced with one or more actual magnet sheets of different sizes and / or positions, the replacement must satisfy the following conditions:

[0025] (1) The remanence of the actual magnet layers is B. r,stator ;

[0026] (2) If only one actual magnet sheet is used as a substitute: when the actual magnet sheet moves along the z-axis, the force generated by it and the initial stator magnet sheet is approximately equal to the force generated between the initial stator and the mover.

[0027] (3) If multiple actual magnet sheets are used as substitutes: when multiple actual magnet sheets move along the z-axis in a fixed manner, the force generated by them and the initial stator magnet sheets is approximately equal to the force generated between the initial stator and the mover.

[0028] Furthermore, in step 3, two-dimensional magnet sheets of rectangular, circular, triangular, or / and annular shapes are selected, and the relative positions of magnet sheets of different shapes are different.

[0029] Furthermore, in step 3, two-dimensional magnet sheets of different shapes are selected as the initial stator sheet and the initial mover sheet, respectively.

[0030] Furthermore, in step 3, the magnetization directions of the initial stator layer and the initial mover layer are parallel or perpendicular.

[0031] Furthermore, in step 3, the arrangement of the magnet layers in the initial stator layer and the initial mover layer is different.

[0032] Furthermore, in step 4, the initial interlayer magnetic force is calculated using the equivalent magnetic charge method, the equivalent current element method, and the finite element analysis method.

[0033] Furthermore, in steps 2, 4, and 6, analytical methods, discrete Fourier transform methods, and fast Fourier transform methods are used to implement Fourier transform and inverse transform.

[0034] Furthermore, in step 7, a genetic algorithm, simulated annealing algorithm, gradient descent method, simplex method, Nelder-Mead method, or / and other numerical optimization algorithms are used to find actual magnet sheets for replacement.

[0035] Overall, the above-mentioned technical solutions conceived by this invention have the following beneficial effects compared with the prior art: This invention provides a novel method for reverse designing the required magnet shape of a magnetic spring based on the desired force-displacement characteristic curve of the magnetic spring, filling a technological gap. Attached Figure Description

[0036] Figure 1 This is a flowchart illustrating the reverse design method for a customizable force-displacement characteristic irregular permanent magnet spring provided by an embodiment of the present invention.

[0037] Figure 2 This is a schematic diagram of the rectangular initial stator magnet sheet and the initial mover magnet sheet provided in the embodiments of the present invention;

[0038] Figure 3 The expected force-displacement characteristic curve provided in the embodiments of the present invention is shown in the figure. The dotted line refers to the original expected force-displacement characteristic curve, and the solid line refers to the expected force-displacement characteristic curve after filtering.

[0039] Figure 4 These are the magnetization intensity curves of the magnetostrictive spring stator and magnetostrictive spring mover provided in the embodiments of the present invention. Figure 4 In the diagram, the triangle icon represents the magnetization intensity curve of the magnetostrictive spring stator, and the circle icon represents the magnetization intensity curve of the magnetostrictive spring mover.

[0040] Figure 5 This is a schematic diagram of a rectangular magnet whose magnetization intensity varies with the z-axis coordinate, provided in an embodiment of the present invention.

[0041] Figure 6 This is a schematic diagram of a standard remanent magnet substitute layer provided in an embodiment of the present invention;

[0042] Figure 7 This is a three-dimensional schematic diagram of the configuration of the magnetostrictive constant force spring permanent magnet provided in an embodiment of the present invention;

[0043] Figure 8 This is a finite element simulation result diagram of a magnetostrictive constant force spring provided in an embodiment of the present invention. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0045] Figure 1This is a flowchart illustrating the reverse design method for a customizable force-displacement characteristic irregular permanent magnet spring provided by an embodiment of the present invention. As shown in the figure, it mainly includes the following core steps:

[0046] Step 1: Construct the desired force-displacement characteristic curve f desire (z), f desire (z) It must satisfy the condition of absolute integrability.

[0047] Step 2: Analyze the desired force-displacement characteristic curve f desire (z) Perform a Fourier transform to obtain its spatial frequency domain function F. desire (f z ), f z It is the spatial frequency variable corresponding to the independent variable z. The unit is 1 / m, where m refers to the meter, a unit of length. desire (f z The function should possess tight support or near-tight support, meaning that the spatial frequency domain function exists within an interval where its value is not zero, and outside this interval, its value is zero or sufficiently small. This tight support interval is denoted as (f...). z,-lim ,f z,+lim ),

[0048] If the above conditions are not met, return to step 1 and reconstruct the desired force-displacement characteristic curve f. desire (z),

[0049] Step 3: Select two two-dimensional magnet sheets, as the initial stator sheet and the initial mover sheet, respectively. The two magnet sheets are located in the same plane perpendicular to the z-axis, are parallel and do not overlap, and have magnetization directions in the same plane. The remanent magnetization of the two magnet sheets is equal or similar.

[0050] Step 4: Calculate the initial interlayer magnetic force f between the initial stator magnet layers and the initial mover magnet layers. layers (z), and perform a Fourier transform on it to obtain its corresponding initial spatial frequency domain function F. layers (f z ), f z It is the spatial frequency variable corresponding to the independent variable z. The unit is 1 / m, where m refers to the meter, a unit of length.

[0051] Step 5: Determine the initial spatial frequency domain function F layers (f z Does the tight support range or near-tight support range contain (f)? z,-lim ,f z,+lim ),

[0052] If this condition is not met, return to step 3 and reselect initial stator magnet sheets and initial mover magnet sheets of different sizes, magnetization directions, or shapes.

[0053] If the conditions are met, proceed to step 6.

[0054] Step 6: Determine the magnetization curve m of the mover magnet mover (z) is subjected to a Fourier transform to obtain the frequency domain function M of the mover magnet corresponding to the magnetization curve of the mover magnet. mover (f z ),

[0055] According to the frequency domain function M of the moving magnet mover (f z ) Calculate the frequency domain function M corresponding to the stator magnetization intensity curve. stator (f z ),

[0056] M stator (f z ) = F desire (f z )[F layers (f z )·M mover (f z )] -1 ,

[0057] For M stator (f z Perform an inverse Fourier transform to obtain the stator magnetization curve m stator (z),

[0058] The stator magnetization curve and the mover magnetization curve refer to the functions that map the remanent magnetization of each magnet layer to its z-axis coordinate when the stator magnet and mover magnet are decomposed into multiple two-dimensional magnet layers perpendicular to the z-axis.

[0059] Step 7: Decompose the stator magnet into multiple two-dimensional magnet layers perpendicular to the z-axis, ensuring that the remanence of each two-dimensional magnet layer as a function mapping its z-axis coordinate matches the magnetization curve of the stator magnet. Replace each two-dimensional magnet layer obtained from the decomposition with one or more actual magnet layers of different sizes and / or positions, and denote the set of all actual magnet layers as the actual stator layer set {layers}. stator The substitution condition is as follows:

[0060] (1) The remanence of the actual magnet layers is B. r,stator ;

[0061] (2) If only one actual magnet sheet is used as a substitute: when the actual magnet sheet moves along the z-axis, the force generated by it and the initial stator magnet sheet is approximately equal to the force generated between the initial stator and the mover.

[0062] (3) If multiple actual magnet sheets are used as substitutes: when multiple actual magnet sheets move along the z-axis in a fixed manner, the force generated by them and the initial stator magnet sheets is approximately equal to the force generated between the initial stator and the mover.

[0063] Step 8: Using and obtaining the actual set of stator layers {layers} stator The same method is used to obtain the set of magnetic layers that replace all the moving magnets, which is the actual set of moving layers {layers}. mover The actual moving layer includes one actual magnet sheet, or the actual moving layer includes multiple actual magnet sheets of different sizes and / or positions, each actual magnet sheet having a remanence of B. r,mover ,

[0064] Step 9: Set the actual stator layer set {layers} stator} and the actual set of sub-layers {layers mover Each component forms its final magnet assembly, resulting in the stator magnet assembly and mover magnet assembly for the irregularly shaped permanent magnet spring. This completes the reverse design of the irregularly shaped permanent magnet spring. When the mover magnet moves along the z-axis, the magnetic spring exhibits the desired force-displacement characteristics. desire (z).

[0065] Steps 7 and 8 can be performed simultaneously, without any specific order. Steps 2, 4, and 6 can use analytical methods to perform Fourier transforms and inverse transforms, or numerical methods such as Discrete Fourier (inverse) transform or Fast Fourier (inverse) transform. In step 3, magnetic sheets of various shapes, such as rectangular, circular, triangular, and toroidal, can be selected. The relative positions of magnetic sheets of different shapes differ; for example, toroidal magnetic sheets can be arranged concentrically. Different shaped magnetic sheets can be used as the initial stator and mover magnetic sheets in step 3; for example, a rectangular magnetic sheet can be used as the stator, and a toroidal magnetic sheet as the mover. The magnetization directions of the stator and mover magnetic sheets in step 3 can be parallel, perpendicular, or neither. Furthermore, the arrangement of the magnetic sheets in step 3 can differ; for example, rectangular sheets can be arranged with their major and minor axes coaxial, or they can be arranged at an angle, the difference being only a slight difference in the magnetic force calculation method. In step 4, the force between the two magnetic sheets can be calculated using methods such as the equivalent magnetic charge method, the equivalent current element method, and the finite element analysis method. In step 7, intelligent optimization algorithms such as genetic algorithms and simulated annealing algorithms can be used, or numerical optimization algorithms such as gradient descent, simplex method, and Nelder-Mead method can be used to find alternative magnet sheets.

[0066] The method of the present invention is illustrated below with a specific embodiment. This embodiment relates to the design of a magnetostrictive constant force spring. The design goal of the magnetostrictive constant force spring is to provide an approximately constant supporting force within a stroke of approximately ±15 mm. Specifically, it includes the following steps:

[0067] Step 1: Construct a curve with a mean of zero, and use a filter to correct the curve shape to obtain the desired force-displacement characteristic curve shape f. desire (z), such as Figure 3 , Figure 3 The expected force-displacement characteristic curve provided in the embodiments of the present invention is shown in the figure. The dotted line refers to the original expected force-displacement characteristic curve, and the solid line refers to the expected force-displacement characteristic curve after filtering.

[0068] Step 2, for f desire (z) Perform a Fourier transform to obtain F desire (f z ).

[0069] Step 3: Select two rectangular magnet sheets as the initial stationary and moving magnet sheets. The two magnet sheets are symmetrical about the y-axis and are both magnetized along the positive y-axis direction. Figure 2 This is a schematic diagram of the rectangular initial stator magnet sheet and the initial mover magnet sheet provided in the embodiments of the present invention.

[0070] Step 4: Based on the equivalent magnetic charge model, calculate the force generated between the stationary and moving magnet layers when the moving magnet layer moves along the z-axis. layers (z) is calculated using the following formula:

[0071]

[0072]

[0073] U = α + (-1) j A / 2-(-1) i a / 2

[0074] V = β + (-1) n B / 2-(-1) m b / 2

[0075] Where: A and a are the dimensions of the two rectangular magnetic sheets along the x-axis; B and b are the dimensions of the two rectangular magnetic sheets along the y-axis. α and β are the distances between the centers of the two magnetic sheets along the x-axis and y-axis, respectively; μ0 and μ r For both vacuum permeability and the relative permeability of the material, all parameters need to be interpreted. r1 B r2 σi and σj are the remanent magnetizations of the two rectangular magnet sheets, respectively, z is the displacement of the mover magnet sheet along the z-axis, and σj is the displacement of the mover magnet sheet along the z-axis. m1 σm2 These are the magnetic charge densities of the two rectangular magnet sheets, and U, V, i, j, m, and n are intermediate variables.

[0076] For f layers (z) Perform a Fourier transform to obtain F layers (f z ).

[0077] Step 5, determine F layers (f z Does the support range of ) include F? desire (f z If the support interval is not met, return to step 3; if it is met, proceed to step 6.

[0078] Step 6, select a rectangular window function as the mover magnetization curve m mover (z):

[0079]

[0080] The corresponding moving magnet is a uniformly magnetized rectangular permanent magnet.

[0081] M is obtained by its Fourier transform mover (f z )=10Sa(10πf z And calculate the frequency domain function M corresponding to the stator magnetization curve. stator (f z ):

[0082] M stator (f z ) = F desire (f z )[F layers (f z M mover (f z )] -1

[0083] Perform an inverse Fourier operation on it to obtain m stator (z), Figure 4 These are the magnetization intensity curves of the magnetostrictive spring stator and magnetostrictive spring mover provided in the embodiments of the present invention. Figure 4 In the diagram, the triangle icon represents the magnetization intensity curve of the magnetostrictive spring stator, and the circle icon represents the magnetization intensity curve of the magnetostrictive spring mover.

[0084] Step 7, based on the stator magnetization curve m stator (z) Generate the corresponding set of variable magnetization stator magnet layers. The remanent magnetization and z-axis coordinate of each magnet layer are m... stator The dependent and independent variables of (z) are as follows: Figure 5 , Figure 5 This is a schematic diagram of a rectangular magnet whose magnetization intensity varies with the z-axis coordinate, provided in an embodiment of the present invention.

[0085] Step 8: Replace each layer in the variable magnetization stator magnet layer set with two magnet layers of the same size and remanence. Suitable replacement magnet layers can be found by optimizing the two parameters [d, a']. Figure 6 , Figure 6 This is a schematic diagram of a standard remanent magnet substitute layer provided in an embodiment of the present invention. All substitute magnet layers have a consistent remanent magnetization. By combining all substitute magnet layers, an irregularly shaped stator magnet assembly is obtained.

[0086] Step 9: The irregularly shaped stator magnet assembly and the rectangular mover magnet form a magnetostrictive force spring, such as... Figure 7 , Figure 7 This is a three-dimensional schematic diagram of the configuration of the magnetostrictive constant force spring permanent magnet provided in an embodiment of the present invention.

[0087] When the rectangular moving magnet moves vertically, the force it experiences from the irregularly shaped stator magnet assembly is approximately constant within ±15mm. Figure 8 , Figure 8 The figure shows the finite element simulation results of the magnetostrictive constant force spring provided in the embodiment of the present invention. As can be seen from the figure, the magnetostrictive constant force spring can provide approximately constant force within ±15mm.

[0088] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A reverse design method for irregularly shaped permanent magnet springs with customizable force-displacement characteristics, characterized in that, It includes the following steps: Step 1: Construct the desired force-displacement characteristic curve , It must satisfy the condition of absolute integrability. Step 2: Analyze the desired force-displacement characteristic curve. Perform a Fourier transform to obtain its spatial frequency domain function , It is related to the independent variable The corresponding spatial frequency variable, The unit is m refers to the meter, a unit of length. judge Whether a function possesses tight support or near-tight support refers to the existence of a spatial frequency domain function within an interval where its value is not zero, and outside this interval, its value is zero or sufficiently small. This tight support interval is denoted as... , If satisfied, proceed to step 3. If the above conditions are not met, return to step 1 and reconstruct the desired force-displacement characteristic curve. , Step 3: Select two two-dimensional magnet sheets, which will serve as the initial stator sheet and the initial mover sheet, respectively. The two magnet sheets are located at the same position as... In the same plane perpendicular to the axis, the two magnet layers are parallel and do not overlap, and the magnetization directions of the initial stator magnet layer and the initial mover magnet layer are in the same plane. Step 4: Calculate the initial interlayer magnetic force between the initial stator magnet layers and the initial mover magnet layers. And perform a Fourier transform on it to obtain its corresponding initial spatial frequency domain function. , It is related to the independent variable The corresponding spatial frequency variable, The unit is m refers to the meter, a unit of length. Step 5: Determine the initial spatial frequency domain function Does the tight support range or near-tight support range include... , If this condition is not met, return to step 3 and reselect initial stator magnet sheets and initial mover magnet sheets of different sizes, magnetization directions, or shapes. If the conditions are met, proceed to step 6. Step 6: Determine the magnetization curve of the mover magnet Perform a Fourier transform on it to obtain the frequency domain function of the moving magnet corresponding to the magnetization intensity curve of the moving magnet. According to the frequency domain function of the moving magnet Inversely calculate the frequency domain function corresponding to the magnetization curve of the stator magnet. ,right The stator magnetization curve is obtained by performing an inverse Fourier transform. , The stator magnetization intensity curve and the mover magnetization intensity curve refer to the results of decomposing the stator magnet and mover magnet into multiple layers perpendicular to the magnetic field. When considering two-dimensional magnetic sheets with a z-axis, the remanent magnetization of each magnetic sheet is a function that maps one-to-one with its z-axis coordinate. In step 6, based on the frequency domain function of the moving magnet... Inversely calculate the frequency domain function corresponding to the magnetization curve of the stator magnet. as follows: ， Step 7: Decompose the stator magnet into multiple two-dimensional magnet layers perpendicular to the z-axis, ensuring that the remanence of each two-dimensional magnet layer as a function mapping its z-axis coordinate matches the magnetization curve of the stator magnet. Replace each two-dimensional magnet layer obtained from the decomposition with one or more actual magnet layers of different sizes and / or positions, and denote the set of all actual magnet layers as the actual stator layer set. , In step 7, when each two-dimensional magnet sheet obtained from the decomposition is replaced with one or more actual magnet sheets of different sizes and / or positions, the replacement must satisfy the following conditions: (1) The remanence of the actual magnet layers is all ; (2) If only one actual magnet sheet is used as a substitute: when the actual magnet sheet moves along the z-axis, the force generated by it and the initial stator magnet sheet is approximately equal to the force generated between the initial stator and the mover. (3) If multiple actual magnet layers are used as substitutes: when multiple actual magnet layers move along the z-axis while being fixed together, the force generated by them and the initial stator magnet layers is approximately equal to the force generated between the initial stator and mover. Step 8: Using and Obtaining the Actual Stator Layer Set The same method is used to obtain the set of magnetic sheets that replace all the mover magnets, which is the actual set of mover layers. The actual locator layer includes one actual magnet sheet, or the actual locator layer includes multiple actual magnet sheets of different sizes and / or positions, and the remanence of each actual magnet sheet is . , Step 9: Assemble the actual stator layers and actual moving sub-layer set Each component forms its final magnet assembly, resulting in the stator magnet assembly and mover magnet assembly for the irregularly shaped permanent magnet spring, thus completing the reverse design of the irregularly shaped permanent magnet spring.

2. The reverse design method for a customizable force-displacement characteristic irregular permanent magnet spring as described in claim 1, characterized in that, In step 3, rectangular, circular, triangular, or / and ring-shaped two-dimensional magnet sheets are selected, and the relative positions of magnet sheets of different shapes are different.

3. The reverse design method for a customizable force-displacement characteristic irregular permanent magnet spring as described in claim 1, characterized in that, In step 3, two-dimensional magnet sheets of different shapes are selected as the initial stator sheet and the initial mover sheet, respectively.

4. A reverse design method for irregularly shaped permanent magnet springs with customizable force-displacement characteristics as described in any one of claims 1-3, characterized in that, In step 3, the magnetization directions of the initial stator layer and the initial mover layer are parallel or perpendicular.

5. The reverse design method for a customizable force-displacement characteristic irregular permanent magnet spring as described in claim 4, characterized in that, In step 3, the arrangement of the magnet sheets in the initial stator sheet layer and the initial mover sheet layer is different.

6. The reverse design method for an irregularly shaped permanent magnet spring with customizable force-displacement characteristics as described in claim 5, characterized in that, In step 4, the initial interlayer magnetic force is calculated using the equivalent magnetic charge method, the equivalent current element method, and the finite element analysis method.

7. The reverse design method for an irregularly shaped permanent magnet spring with customizable force-displacement characteristics as described in claim 6, characterized in that, Steps 2, 4, and 6 use analytical methods, discrete Fourier transform methods, and fast Fourier transform methods to implement Fourier transform and inverse transform.

8. The reverse design method for a customizable force-displacement characteristic irregular permanent magnet spring as described in claim 7, characterized in that, In step 7, a genetic algorithm, simulated annealing algorithm, gradient descent method, simplex method, Nelder-Mead method, or / and other numerical optimization algorithms are used to find the actual magnet sheet to replace it.

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