Forward and reverse magnetic levitation bearingless motor, equipment, control method, and system

Abstract

This invention discloses a reversible magnetic levitation bearingless motor, device, control method, and system. The reversible magnetic levitation bearingless motor includes a stator, a rotor, a position acquisition device, a rotation control device, a main control device, and a power amplifier. Based on angular position and rotation control commands, the main control device selects a reference coil and controls the order in which the coils on multiple stator teeth reach the peak value of the rotating current, as well as the direction of the rotating current flow on each stator tooth, thereby controlling the rotor's rotation direction. The main control device also controls the order in which the coils on multiple stator teeth reach the peak value of the levitation current, as well as the direction of the levitation current flow on each stator tooth, thereby controlling the rotor's levitation. The levitation magnetic field generated by the levitation current rotates. The rotation direction of the rotating magnetic field is the same as that of the levitation magnetic field, but the rotation speed of the rotating magnetic field is different from that of the levitation magnetic field.

Description

Technical Field

[0001] At least one embodiment of this disclosure relates to a reversible magnetic levitation bearingless motor, a magnetic levitation device, a control method for the reversible magnetic levitation bearingless motor, a reversible magnetic levitation bearingless motor system, and a computer-readable storage medium. Background Technology

[0002] Magnetic levitation bearingless motors, also known as bearingless thin-film motors, utilize bearingless technology to achieve active levitation of the rotor's rotation and radial direction, while using magnetic resistance to achieve passive levitation of the rotor's other three degrees of freedom besides radial and rotational degrees of freedom. They feature high axial utilization and superior performance, and have promising application prospects in ultra-pure drive fields such as biochemistry, medicine, and semiconductor manufacturing.

[0003] Typically, a magnetic levitation bearingless motor consists of a stator and a rotor. The rotor can be a single, integral rotor; for example, in magnetic levitation pump applications, the rotor serves as both the rotor of the magnetic levitation motor and the rotor of the pump. The stator is designed as a bearing and drive stator, typically including a stator yoke, several stator teeth, and coils wound around the stator teeth. For instance, in magnetic levitation pump applications, the stator is both a rotary drive stator and a magnetically levitation stator. A magnetic field can be generated by the stator coils. This magnetic field applies torque to the rotor, thereby achieving rotation of the rotor around the desired axis of rotation, and also applies a levitation force, which can be applied to the rotor as needed to actively control or adjust the rotor's radial position. Therefore, three degrees of freedom of the rotor can be actively adjusted: its rotation and its radial position (two degrees of freedom). Regarding the other three degrees of freedom—the rotor's position in the axial direction and its tilt relative to a radial plane perpendicular to the desired axis of rotation (two degrees of freedom)—the rotor is passively magnetically levitized or stabilized by magnetic resistance. Summary of the Invention

[0004] This disclosure provides a bearingless magnetic levitation motor for forward and reverse rotation, comprising: a stator including a plurality of stator teeth, each stator tooth having a coil wound around it; a rotor, the stator surrounding the rotor or the rotor surrounding the stator, the rotor having a reference portion; a position acquisition device configured to acquire the angular position of the reference portion of the rotor relative to the stator; a rotation control device configured to provide rotation control commands; a main control device and a power amplifier device, the main control device being connected to the position acquisition device, the rotation control device, and the power amplifier device respectively, the power amplifier device also being electrically connected to the coil to pass a rotational current for controlling the rotation of the rotor and a levitation current for controlling the levitation of the rotor into the coil, wherein the main control device, the power amplifier device, the stator, and the rotor are configured to: based on the angular position and the rotation control... The instruction states that the main control device selects a reference coil and controls, through the power amplifier, the order in which the coils on the plurality of stator teeth reach the peak value of the rotating current and the direction of the energizing current of the coils on each stator tooth, thereby controlling the rotation direction of the rotor. During this process, the rotating magnetic field generated by the rotating current rotates. The main control device, the power amplifier, the stator, and the rotor are further configured such that: the main control device controls, through the power amplifier, the order in which the coils on the plurality of stator teeth reach the peak value of the levitation current and the direction of the energizing current of the coils on each stator tooth, thereby controlling the rotor to levitate. During this process, the levitation magnetic field generated by the levitation current rotates; and the rotation direction of the rotating magnetic field is the same as the rotation direction of the levitation magnetic field, and the rotation speed of the rotating magnetic field is different from the rotation speed of the levitation magnetic field.

[0005] For example, the rotor is a permanent magnet rotor and has magnetic poles, the magnetic poles being the reference portion of the rotor; the angular position of the reference coil relative to the stator differs from the angular position of the reference portion relative to the stator by an angle.

[0006] For example, if the rotation control command is a clockwise rotation control command, in this case, the reference coil is located to the left of the reference portion in the clockwise direction. Starting from the reference coil, the coils on the plurality of stator teeth sequentially reach the peak value of the rotating current in the clockwise direction and control the direction of the rotating current to sequentially apply magnetic force to the reference portion in the clockwise direction, thereby driving the rotor to rotate clockwise. Alternatively, if the rotation control command is a counterclockwise rotation control command, in this case, the reference coil is located to the right of the reference portion in the counterclockwise direction. Starting from the reference coil, the coils on the plurality of stator teeth sequentially reach the peak value of the rotating current in the counterclockwise direction and control the direction of the rotating current to sequentially apply magnetic force to the reference portion in the counterclockwise direction, thereby driving the rotor to rotate counterclockwise.

[0007] For example, the angle difference between the angular position of the reference coil relative to the stator and the angular position of the reference part relative to the stator is 90 degrees.

[0008] For example, the rotor is a magnetic rotor and includes a plurality of protrusions projecting toward the stator, one of which is a reference portion of the rotor; the angular position of the reference coil relative to the stator differs from the angular position of the reference portion relative to the stator by an angle.

[0009] For example, if the rotation control command is a clockwise rotation control command, in this case, the reference coil is located to the right of the reference portion in the clockwise direction. Starting from the reference coil, the coils on the plurality of stator teeth sequentially reach the peak value of the rotating current in the clockwise direction and control the direction of the rotating current to sequentially apply magnetic force to the reference portion in the clockwise direction, thereby driving the rotor to rotate clockwise. Alternatively, if the rotation control command is a counterclockwise rotation control command, in this case, the reference coil is located to the left of the reference portion in the counterclockwise direction. Starting from the reference coil, the coils on the plurality of stator teeth sequentially reach the peak value of the rotating current in the counterclockwise direction and control the direction of the rotating current to sequentially apply magnetic force to the reference portion in the counterclockwise direction, thereby driving the rotor to rotate counterclockwise.

[0010] For example, the location acquisition device includes a Hall sensor.

[0011] For example, for each of the plurality of stator teeth, there is only one coil wound around it; the power amplifier is a half-bridge power topology circuit and passes a superimposed current into the coil, the superimposed current including a rotating current component and a floating current component, the rotating current component being used as the rotating current and the floating current component being used as the floating current.

[0012] For example, for each of the plurality of stator teeth, the coil wound thereon includes a rotating coil and a levitation coil that are insulated from each other; the power amplification device includes a first power amplification circuit and a second power amplification circuit; the first power amplification circuit is electrically connected to the rotating coil to pass a rotating current that controls the rotation of the rotor into the rotating coil; the second power amplification circuit is electrically connected to the levitation coil to pass a levitation current that controls the levitation of the rotor into the levitation coil.

[0013] For example, the rotating current is configured to construct a Pt-pole rotating magnetic field, and the levitation current is configured to construct a Ps-pole levitation magnetic field, where Pt is the number of poles of the rotating magnetic field, Ps is the number of poles of the levitation magnetic field, and satisfies Ps=Pt+2 or Ps=Pt-2; the rotating current supplied to the coil on each stator tooth is a first cosine current or a first sine current, and the phases of the first cosine current or the first sine current supplied to the coils on multiple stator teeth are successively 360Mt / (2N+2) degrees apart; the levitation current supplied to the coil on each stator tooth is a second cosine current or a second sine current, and the phases of the second cosine current or the second sine current supplied to the coils on multiple stator teeth are successively 360Ms / (2N+2) degrees apart; when the rotor rotates once in space, the first cosine current or the first sine current completes Mt complete cycles, and the second cosine current or the second sine current completes Ms complete cycles, where Pt=2Mt and Ps=2Ms.

[0014] For example, when Ps = Pt + 2, the rotational speed of the rotating magnetic field is greater than the rotational speed of the levitation magnetic field; when Ps = Pt - 2, the rotational speed of the rotating magnetic field is less than the rotational speed of the levitation magnetic field.

[0015] For example, when Ps = Pt + 2, the ratio of the rotational speed of the rotating magnetic field to the rotational speed of the levitation magnetic field is (Mt + 1) / Mt; when Ps = Pt - 2, the ratio of the rotational speed of the rotating magnetic field to the rotational speed of the levitation magnetic field is (Mt - 1) / Mt.

[0016] For example, the reversible magnetic levitation bearingless motor according to an embodiment of the present disclosure further includes a mode control device, which is connected to the main control device and configured to control the reversible magnetic levitation bearingless motor to switch between a first mode and a second mode; in the first mode, the reversible magnetic levitation bearingless motor rotates only clockwise or only counterclockwise; in the second mode, the reversible magnetic levitation bearingless motor can switch between clockwise rotation and counterclockwise rotation.

[0017] According to an embodiment of this disclosure, a control method for a reversible magnetic levitation bearingless motor is also provided. The reversible magnetic levitation bearingless motor includes: a stator comprising a plurality of stator teeth, each stator tooth having a coil wound around it; and a rotor, the stator surrounding the rotor or the rotor surrounding the stator, wherein a rotational current for controlling the rotation of the rotor and a levitation current for controlling the levitation of the rotor are supplied to the coil, the rotor having a reference portion, and the control method including: acquiring a rotation control command; acquiring the angular position of the reference portion of the rotor relative to the stator; and selecting a reference coil based on the angular position and the rotation control command. The rotation direction of the rotor is controlled by controlling the order in which the coils on multiple stator teeth reach the peak value of the rotating current, starting from the reference coil, and the direction of the rotating current of the coils on each stator tooth. During this process, the rotating magnetic field generated by the rotating current rotates. Simultaneously, the rotation direction of the rotor is controlled by controlling the order in which the coils on the multiple stator teeth reach the peak value of the levitation current, and the direction of the levitation current of the coils on each stator tooth. During this process, the levitation magnetic field generated by the levitation current rotates, and the rotation direction of the rotating magnetic field is the same as that of the levitation magnetic field, but the rotation speed of the rotating magnetic field is different from that of the levitation magnetic field.

[0018] According to an embodiment of this disclosure, a forward and reverse magnetic levitation bearingless motor system is also provided, comprising: a processor; a memory including one or more computer program modules; wherein the one or more computer program modules are stored in the memory and configured to be executed by the processor, and the one or more computer program modules include instructions for implementing the control method described above.

[0019] According to embodiments of this disclosure, a computer-readable storage medium is also provided for storing non-transitory computer-readable instructions, which, when executed by a computer, can implement the control method described above.

[0020] According to embodiments of this disclosure, a magnetic levitation device is also provided, wherein the magnetic levitation device is configured as a magnetic levitation pump, the magnetic levitation pump including a forward and reverse magnetic levitation bearingless motor as described above, and further including a pump casing and a rotor impeller disposed within the pump casing, the rotor impeller including the rotor; or, the magnetic levitation device is configured as a magnetic levitation stirring device, the magnetic levitation stirring device including a forward and reverse magnetic levitation bearingless motor as described above, and further including a stirring container and a rotor stirring head disposed within the stirring container, the rotor stirring head including the rotor; or, the magnetic levitation device is configured as a magnetic levitation turntable, the magnetic levitation turntable including a forward and reverse magnetic levitation bearingless motor as described above, and further including a rotor support platform, the rotor support platform including the rotor. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings of the embodiments of this disclosure will be briefly described below. Obviously, the drawings described below only relate to some embodiments of this disclosure and are not intended to limit this disclosure.

[0022] Figure 1 This is a schematic diagram of the frame of a forward and reverse magnetic levitation bearingless motor according to an embodiment of the present disclosure. Figure 1 ;

[0023] Figure 2A Plan view of the stator and rotor of a bearingless magnetic levitation motor with forward and reverse rotation according to an embodiment of the present disclosure. Figure 1 ;

[0024] Figure 2B A second planar schematic diagram of the stator and rotor of a forward and reverse magnetic levitation bearingless motor according to an embodiment of this disclosure;

[0025] Figure 3A A schematic diagram of the stator and rotor of a bearingless magnetic levitation motor with forward and reverse rotation according to an embodiment of this disclosure;

[0026] Figure 3B Plan view of the stator and rotor of a bearingless magnetic levitation motor with forward and reverse rotation according to an embodiment of the present disclosure. Figure 4 ;

[0027] Figure 4 This is a second schematic diagram of the frame of a forward and reverse magnetic levitation bearingless motor according to an embodiment of the present disclosure;

[0028] Figure 5 This is a schematic diagram of the frame of a forward and reverse magnetic levitation bearingless motor according to an embodiment of the present disclosure;

[0029] Figure 6 This is a schematic diagram of the rotation of the forward and reverse magnetic levitation bearingless motor rotor, the rotating magnetic field, and the levitation magnetic field according to an embodiment of this disclosure;

[0030] Figure 7 This is a schematic diagram of the frame of a forward and reverse magnetic levitation bearingless motor according to an embodiment of the present disclosure. Figure 4 ;

[0031] Figure 8 This is a schematic flowchart of a control method for a forward and reverse magnetic levitation bearingless motor according to an embodiment of the present disclosure;

[0032] Figure 9 This is a schematic diagram of the framework of a forward and reverse magnetic levitation bearingless motor system according to an embodiment of the present disclosure. Figure 1 ;

[0033] Figure 10This is a second schematic diagram of the frame of a forward and reverse magnetic levitation bearingless motor system according to an embodiment of the present disclosure;

[0034] Figure 11 This is a schematic diagram of a computer-readable storage medium according to embodiments of the present disclosure;

[0035] Figure 12 This is a schematic diagram of a magnetic levitation device configured as a magnetic levitation pump according to an embodiment of the present disclosure. Figure 1 ;

[0036] Figure 13 This is a second schematic diagram of a magnetic levitation device configured as a magnetic levitation pump according to an embodiment of the present disclosure;

[0037] Figure 14 This is a schematic diagram of a magnetic levitation device configured as a magnetic levitation stirring device according to an embodiment of the present disclosure. Figure 1 ;

[0038] Figure 15 This is a second schematic diagram of a magnetic levitation device configured as a magnetic levitation stirring device according to an embodiment of the present disclosure;

[0039] Figure 16 This is a schematic diagram three of the structure of a magnetic levitation device configured as a magnetic levitation stirring device according to an embodiment of the present disclosure;

[0040] Figure 17 This is a schematic diagram of a magnetic levitation device configured as a magnetic levitation turntable according to an embodiment of the present disclosure. Figure 1 . Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. Based on the described embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0042] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure pertains. The terms “first,” “second,” and similar terms used in this patent application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as “comprising” or “including” mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as “inner,” “outer,” “upper,” and “lower” are used only to indicate relative positional relationships, which may change accordingly when the absolute position of the described object changes.

[0043] The accompanying drawings in this disclosure are not drawn to scale, and the specific dimensions and quantity of each structure can be determined according to actual needs. The drawings described in this disclosure are only structural schematic diagrams.

[0044] Magnetic levitation bearingless motors are characterized by high axial utilization and superior performance, showing promising application prospects in ultra-pure drive fields such as biochemistry, medicine, and semiconductor manufacturing. However, currently, magnetic levitation bearingless motors cannot easily and flexibly select the rotation direction as needed. That is, magnetic levitation bearingless motors can usually only rotate in a fixed single direction, and cannot select counterclockwise or clockwise start as needed, nor can they switch between counterclockwise and clockwise rotation as needed, thus failing to achieve forward and reverse rotation functionality.

[0045] According to embodiments of this disclosure, a bearingless magnetic levitation motor with forward and reverse rotation is provided. Figure 1 This is a schematic diagram of the frame of a forward and reverse magnetic levitation bearingless motor according to an embodiment of the present disclosure. Figure 1 ; Figure 2A , Figure 2B , Figure 3A and Figure 3B These are schematic plan views of the stator and rotor of a bearingless magnetic levitation motor with forward and reverse rotation according to embodiments of this disclosure. See also... Figure 1 as well as Figure 2A , Figure 2B , Figure 3A and Figure 3BAccording to an embodiment of the present disclosure, a reversible magnetic levitation bearingless motor includes: a stator 1, the stator 1 including a plurality of stator teeth 1t, each stator tooth 1t having a coil wound on it; a rotor 2, the stator 1 surrounding the rotor 2 or the rotor 2 surrounding the stator 1, the rotor 2 having a reference portion; a position acquisition device configured to acquire the angular position α of the reference portion of the rotor 2 relative to the stator 1; a rotation control device configured to provide rotation control commands; a main control device and a power amplifier device, the main control device being connected to the position acquisition device, the rotation control device and the power amplifier device respectively, the power amplifier device also being electrically connected to the coil to pass a rotational current for controlling the rotation of the rotor 2 and a levitation current for controlling the levitation of the rotor 2 into the coil, wherein the main control device, the power amplifier device, the stator 1 and the rotor 2 are configured to: based on the angular position α and the rotation control... The main control device selects a reference coil and controls the order in which the coils on multiple stator teeth 1t reach the peak value of the rotating current and the direction of the rotating current of the coils on each stator tooth 1t, thereby controlling the rotation direction of the rotor 2. During this process, the rotating magnetic field generated by the rotating current rotates. The main control device, power amplifier, stator, and rotor are also configured such that the main control device controls the order in which the coils on multiple stator teeth 1t reach the peak value of the levitation current and the direction of the levitation current of the coils on each stator tooth 1t, thereby controlling the rotor 2 to levitate. During this process, the levitation magnetic field generated by the levitation current rotates. The rotation direction of the rotating magnetic field is the same as that of the levitation magnetic field, and the rotation speed of the rotating magnetic field is different from that of the levitation magnetic field.

[0046] For ease of illustration, all accompanying drawings show the stator 1 surrounding the rotor 2; however, the description of the embodiments of this disclosure also applies to the case where the rotor 2 surrounds the stator 1. For example, the stator 1 and rotor 2 are spaced apart from each other; specifically, when the rotor 2 is stably suspended and rotating, the stator 1 and rotor 2 are spaced apart from each other so that the stator 1 and rotor 2 do not contact each other, thereby avoiding a series of problems such as heat generation and contamination caused by mechanical friction. For example, multiple stator teeth 1t protrude towards the rotor 2.

[0047] For example, stator 1 is formed of a magnetic material; further, for example, the magnetic material is a ferromagnetic material; even further, for example, the ferromagnetic material is a soft magnetic material with a permeability much greater than the permeability of vacuum, examples of which include, but are not limited to, iron, cobalt, nickel and their alloys, carbon steel, silicon steel, and electrical pure iron. For example, rotor 2 is a permanent magnet rotor; in this case, rotor 2 is made of a permanent magnet material, examples of which include, but are not limited to, samarium cobalt, neodymium iron boron, and ferrite. For example, rotor 2 is a magnetically conductive rotor; in this case, rotor 2 is formed of a magnetic material, examples of which include, but are not limited to, iron, cobalt, nickel and their alloys, carbon steel, silicon steel, and electrical pure iron.

[0048] For example, the position acquisition device can obtain the angular position of the reference part of the rotor 2 relative to the stator 1 by detection and analysis. For example, the position acquisition device may include a Hall sensor. The position acquisition device obtains the angular position α of the reference part of the rotor 2 relative to the stator 1, which is equivalent to the circumferential position of the reference part of the rotor 2 being determined. Then, the reference part of the rotor 2 is used as a reference position to select a reference coil from the coils on the multiple stator teeth 1t.

[0049] For example, the rotation control command is a clockwise rotation control command, instructing rotor 2 to rotate clockwise; or, the rotation control command is a counterclockwise rotation control command, instructing rotor 2 to rotate counterclockwise. For example, the rotation control device is a user-operable device (e.g., a toggle switch); in this case, for example, when the user performs a first operation on the rotation control device, the rotation control device provides a clockwise rotation control command to the main control device; when the user performs a second operation on the rotation control device, the rotation control device provides a counterclockwise rotation control command to the main control device. For example, the rotation control device is a rotation control circuit; in this case, for example, at time n×T+t1, the rotation control circuit provides a clockwise rotation control command to the main control device; at time n×T+t2, the rotation control circuit provides a counterclockwise rotation control command to the main control device, where n is an integer greater than or equal to 0, and T is the time of one cycle of the rotation control circuit.

[0050] For example, the main control device and the power amplifier device can be a main control circuit and a power amplifier circuit, respectively. The main control device is connected to the position acquisition device, the rotation control device, and the power amplifier device, respectively. This connection can be direct or indirect, wired or wireless, as long as the angular position acquired by the position acquisition device and the rotation control command provided by the rotation control device can be accepted by the main control device, and the control commands issued by the main control device can be accepted by the power amplifier device. The power amplifier device is electrically connected to the coil wound on the stator teeth 1t to supply current to the coil. This current includes a rotational current for controlling the rotation of the rotor 2 and a levitation current for controlling the levitation of the rotor 2.

[0051] According to an embodiment of this disclosure, after receiving the angular position obtained by the position acquisition device and the rotation control command provided by the rotation control device, the main control device selects a reference coil from the coils on multiple stator teeth 1t based on the angular position and the rotation control command. It then controls the order in which the rotational current of the coils on multiple stator teeth 1t reaches its peak value, starting from the reference coil, and the energizing direction of the rotational current of the coils on each stator tooth 1t, through a power amplifier device. This enables control of the rotation direction of the rotor 2, allowing it to rotate clockwise or counterclockwise as needed, and to switch between clockwise and counterclockwise rotation as required. In other words, the forward and reverse rotation function of the magnetic levitation bearingless motor is realized. For example, clockwise rotation can be designated as forward rotation, and counterclockwise rotation as reverse rotation. Therefore, the magnetic levitation bearingless motor according to the embodiments of this disclosure can simply and flexibly select the rotation direction as needed. It can choose to start counterclockwise or clockwise as needed, and can also switch between counterclockwise and clockwise rotation as needed.

[0052] It should be noted that when the main control device controls the order in which the coils on multiple stator teeth 1t reach the peak value of the rotating current starting from the reference coil through the power amplifier device, the coils on multiple stator teeth 1t are simultaneously supplied with rotating current, but the rotating current supplied to the coils on multiple stator teeth 1t does not reach the peak value at the same time, but reaches the peak value sequentially over time.

[0053] A magnetic levitation bearingless motor must balance both stable rotation and stable levitation of rotor 2. Rotating current generates a rotating magnetic field, while levitation current generates a levitation magnetic field. The rotating and levitation magnetic fields must be superimposed and matched to achieve both stable rotation and levitation of rotor 2. For example, the rotating magnetic field is used to construct a balanced magnetic field distribution. When the levitation magnetic field is superimposed on the rotating magnetic field, the original symmetrical distribution of the magnetic field is broken. For instance, after the magnetic fields are superimposed, the magnetic field on one side weakens, while the magnetic poles on the opposite side strengthen, thus generating a radial levitation force that controls the rotor. Therefore, the rotating and levitation magnetic fields must satisfy Ps = Pt + 2 or Ps = Pt - 2, where Pt is the number of poles of the rotating magnetic field and Ps is the number of poles of the levitation magnetic field. According to the process of driving rotor 2 to rotate described above, since the rotating currents supplied to the coils on the multiple stator teeth 1t reach their peak values ​​sequentially over time, the rotating magnetic field generated by the rotating current rotates (specifically, the rotation direction of the rotating magnetic field is the same as the rotation direction of rotor 2). In this case, it is necessary to control the levitation magnetic field generated by the levitation current to also rotate, and the rotation direction of the rotating magnetic field must be the same as the rotation direction of the levitation magnetic field, in order to always maintain the matching between the levitation magnetic field and the rotating magnetic field, keep the levitation force constant, and achieve stable rotation and stable levitation of rotor 2. If the levitation magnetic field remains stationary and does not rotate, then with the rotation of the rotating magnetic field and rotor 2, the radial levitation force applied to rotor 2 is no longer constant, the levitation of rotor 2 becomes unstable, and rotor 2 may even lose its levitation, causing the magnetic levitation bearingless motor to fail. Therefore, according to the embodiments of this disclosure, the main control device, power amplifier, stator, and rotor are further configured such that: the main control device controls the order in which the coils on multiple stator teeth 1t reach the peak value of the levitation current and the energizing direction of the levitation current of the coils on each stator tooth 1t through the power amplifier, thereby controlling the rotor to levitate; during this process, the levitation magnetic field generated by the levitation current rotates, and the rotation direction of the rotating magnetic field is the same as the rotation direction of the levitation magnetic field, and the rotation speed of the rotating magnetic field is different from the rotation speed of the levitation magnetic field. That is, by controlling the order in which the coils on multiple stator teeth 1t reach the peak value of the levitation current and the energizing direction of the levitation current of the coils on each stator tooth 1t, the levitation magnetic field can also rotate and the rotation direction of the rotating magnetic field is the same as the rotation direction of the levitation magnetic field; furthermore, since Ps=Pt+2 or Ps=Pt-2, Ps is not equal to Pt, so the rotation speed of the rotating magnetic field must be different from the rotation speed of the levitation magnetic field in order to match the rotating magnetic field and the levitation magnetic field. The magnetic levitation bearingless motor according to the embodiments of this disclosure can simply and flexibly select the rotation direction as needed; under this premise, the magnetic levitation bearingless motor according to the embodiments of this disclosure can also well balance the stable rotation and stable levitation of the rotor 2, and has excellent performance.

[0054] It should be noted that when the main control device controls the order in which the coils on multiple stator teeth 1t reach the peak value of the floating current through the power amplifier, the coils on multiple stator teeth 1t are simultaneously supplied with floating current, but the floating current supplied to the coils on multiple stator teeth 1t does not reach the peak value at the same time, but reaches the peak value sequentially over time.

[0055] For example, see Figure 2A and Figure 2B According to an embodiment of this disclosure, the rotor 2 is a permanent magnet rotor and has magnetic poles, which are the reference portion of the rotor 2; the angular position of the reference coil relative to the stator 1 differs from the angular position of the reference portion relative to the stator 1 by an angle. For example, the magnetic poles of the permanent magnet rotor 2 include N poles and S poles, and either the N pole or the S pole can be used as the reference portion of the rotor 2; as an example, in Figure 2A and Figure 2B In this description, the N pole of rotor 2 is used as the reference portion. For example, the rotating current flowing through the reference coil first reaches its peak value. This peak rotating current generates a rotating magnetic field, which applies magnetic force to the reference portion of rotor 2 to drive rotor 2 to start rotating. Therefore, in order to effectively apply magnetic force to the reference portion of rotor 2 to drive rotor 2 to start rotating, the reference coil and the reference portion of rotor 2 need to differ by an angle in the circumferential direction. That is, the angular position of the reference coil relative to stator 1 and the angular position of the reference portion relative to stator 1 differ by an angle. For example, the angle difference between the angular position of the reference coil relative to stator 1 and the angular position of the reference portion relative to stator 1 is less than or equal to 90 degrees; preferably, the angle difference between the angular position of the reference coil relative to stator 1 and the angular position of the reference portion relative to stator 1 is 90 degrees. For example, in Figure 2A In the diagram, the reference coil is coil 11; Figure 2B In this context, the reference coil is coil 15.

[0056] For example, according to an embodiment of this disclosure, the rotation control command is a clockwise rotation control command. In this case, the reference coil is located to the left of the reference portion of the rotor 2 in the clockwise direction. Starting from the reference coil, the coils on multiple stator teeth 1t sequentially reach the peak value of the rotational current in the clockwise direction and control the direction of the rotational current to sequentially apply magnetic force (e.g., repulsive force) to the reference portion of the rotor 2 in the clockwise direction, thereby driving the rotor 2 to rotate clockwise. As an example, see [link to example]. Figure 2AUsing the N pole of rotor 2 as the reference section, the rotation control command is a clockwise rotation control command to instruct rotor 2 to rotate in a clockwise direction. Stator 1 has eight stator teeth 1t, and the coils wound on these eight stator teeth 1t are coil 11, coil 12, coil 13, coil 14, coil 15, coil 16, coil 17, and coil 18. In this case, coil 11, which is located to the left of the reference section (e.g., the N pole) of rotor 2 in the clockwise direction, is used as the reference coil. Coils 11, 12, 13, 14, 15, 16, 17, and 18 are simultaneously supplied with rotating current, and starting from the reference coil 11, coils 11, 12, 13, 14, 15, 16, 17, and 18 rotate clockwise. 2. The rotating current flowing through coils 13, 14, 15, 16, 17, and 18 sequentially reaches its peak value over time. Simultaneously, the direction of the rotating current flowing through each coil is controlled so that the N-pole of the magnetic field generated by each coil 11, 12, 13, 14, 15, 16, 17, and 18 when reaching its peak rotating current faces the rotor 2, repelling the N-pole of the rotor 2's reference section. This results in coils 11, 12, 13, 14, 15, 16, 17, and 18 sequentially applying magnetic force (e.g., repulsive force) to the N-pole of the rotor 2's reference section in a clockwise direction, driving the rotor 2 to rotate clockwise. It should be noted that... Figure 2A This is a plan view of the stator 1 and rotor 2 when the reference coil 11 reaches the peak value of the rotating current. At this time, rotating current is simultaneously applied to coils 11 to 18. The reference coil 11 reaches the peak value of the rotating current. By controlling the direction of the rotating current, the N pole of the magnetic field generated by the reference coil 11 faces the rotor 2 so as to repel the N pole of the reference part of the rotor 2. The reference coil 11 drives the rotor 2 to start rotating. Afterwards, although not shown, as the rotor 2 rotates, coil 12 reaches the peak value of the rotating current and applies a magnetic force (e.g., a repulsive force) to the N pole of the reference part of the rotor 2, driving the rotor 2 to continue rotating clockwise. Similarly, coils 13, 14, 15, 16, 17, and 18 successively reach the peak value of the rotating current over time and successively apply a magnetic force (e.g., a repulsive force) to the N pole of the reference part of the rotor 2, driving the rotor 2 to continue rotating clockwise.

[0057] For example, according to an embodiment of this disclosure, the rotation control command is a counterclockwise rotation control command. In this case, the reference coil is located to the right of the reference portion of the rotor 2 in the counterclockwise direction. Starting from the reference coil, the coils on multiple stator teeth 1t sequentially reach the peak value of the rotational current in the counterclockwise direction and control the direction of the rotational current to sequentially apply magnetic force (e.g., repulsive force) to the reference portion of the rotor 2 in the counterclockwise direction, thereby driving the rotor 2 to rotate counterclockwise. As an example, see [link to example]. Figure 2BUsing the N pole of rotor 2 as the reference section, the rotation control command is a counterclockwise rotation control command to instruct rotor 2 to rotate in a counterclockwise direction. Stator 1 has eight stator teeth 1t, and the coils wound on these eight stator teeth 1t are coil 11, coil 12, coil 13, coil 14, coil 15, coil 16, coil 17, and coil 18. In this case, coil 15, located to the right of the reference section (e.g., the N pole) of rotor 2 in the counterclockwise direction, is used as the reference coil. Coils 15, 14, 13, 12, 11, 18, 17, and 16 are simultaneously supplied with rotating current, and starting from the reference coil 15, coils 15, 14, 13, 12, 11, 18, 17, and 16 rotate counterclockwise. 4. The rotating current flowing through coils 13, 12, 11, 18, 17, and 16 sequentially reaches its peak value over time. Simultaneously, the direction of the rotating current in each coil is controlled so that the N-pole of the magnetic field generated by each of coils 15, 14, 13, 12, 11, 18, 17, and 16 at the peak of its rotating current faces the rotor 2, repelling the N-pole of the rotor 2's reference section. This causes coils 15, 14, 13, 12, 11, 18, 17, and 16 to sequentially apply magnetic force (e.g., repulsive force) to the N-pole of the rotor 2's reference section in a counter-clockwise direction, driving the rotor 2 to rotate counter-clockwise. It should be noted that... Figure 2B This is a plan view of the stator 1 and rotor 2 when the reference coil 15 reaches the peak of the rotating current. At this time, rotating current is simultaneously applied to coils 11 to 18, and the reference coil 15 reaches the peak of the rotating current. By controlling the direction of the rotating current, the N pole of the magnetic field generated by the reference coil 15 faces the rotor 2 so as to repel the N pole of the reference part of the rotor 2, and the reference coil 15 drives the rotor 2 to start rotating. Afterwards, although not shown, as the rotor 2 rotates, coil 14 reaches the peak of the rotating current and applies a magnetic force (e.g., a repulsive force) to the N pole of the reference part of the rotor 2, driving the rotor 2 to continue rotating counterclockwise; and so on, coils 13, 12, 11, 18, 17, and 16 successively reach the peak of the rotating current over time and successively apply a magnetic force (e.g., a repulsive force) to the N pole of the reference part of the rotor 2, driving the rotor 2 to continue rotating counterclockwise.

[0058] For example, see Figure 3A and Figure 3B According to an embodiment of this disclosure, the rotor 2 is a magnetically conductive rotor and includes a plurality of protrusions 2p projecting toward the stator 1, one of which is a reference portion of the rotor 2; the angular position of the reference coil relative to the stator 1 differs from the angular position of the reference portion relative to the stator 1 by an angle. As an example, in Figure 3A and Figure 3BThe diagram shows that the rotor 2 includes four protrusions 2p. It should be noted that any one of the multiple protrusions 2p can be used as the reference part of the rotor 2; as an example, in... Figure 3A and Figure 3B In this configuration, the upper left protrusion 2p serves as the reference portion of rotor 2. For example, the rotating current flowing through the reference coil reaches its peak value first. This peak rotating current generates a rotating magnetic field, which applies magnetic force to the reference portion of rotor 2 to drive rotor 2 to begin rotating. Therefore, in order to effectively apply magnetic force to the reference portion of rotor 2 to drive rotor 2 to begin rotating, the reference coil and the reference portion of rotor 2 need to differ by an angle in the circumferential direction; that is, the angular position of the reference coil relative to stator 1 differs by an angle from the angular position of the reference portion relative to stator 1. For example, the angle difference between the angular position of the reference coil relative to stator 1 and the angular position of the reference portion relative to stator 1 is less than or equal to 90 degrees. Preferably, provided that the angular position of the reference coil relative to stator 1 differs by an angle from the angular position of the reference portion relative to stator 1, the coil closest to the reference portion of rotor 2 is used as the reference coil. For example, in... Figure 3A In the diagram, the reference coil is coil 13; Figure 3B In this context, the reference coil is coil 11.

[0059] For example, according to an embodiment of this disclosure, the rotation control command is a clockwise rotation control command. In this case, the reference coil is located to the right of the reference portion of the rotor 2 in the clockwise direction. Starting from the reference coil, the coils on multiple stator teeth 1t sequentially reach the peak value of the rotational current in the clockwise direction and control the direction of the rotational current to sequentially apply magnetic force (e.g., attractive force) to the reference portion of the rotor 2 in the clockwise direction, thereby driving the rotor 2 to rotate clockwise. As an example, see [link to example]. Figure 3AUsing the upper left protrusion 2p of rotor 2 as the reference portion, the rotation control command is a clockwise rotation control command to instruct rotor 2 to rotate in a clockwise direction. Stator 1 has eight stator teeth 1t, and the coils wound on these eight stator teeth 1t are coil 11, coil 12, coil 13, coil 14, coil 15, coil 16, coil 17, and coil 18. In this case, coil 13, located to the right of the reference portion (e.g., the upper left protrusion 2p) of rotor 2 in the clockwise direction, is used as the reference coil. Coils 11, 12, 13, 14, 15, 16, 17, and 18 are simultaneously supplied with rotating current, and the coils rotate clockwise from the reference coil 13. 13. The rotating current flowing through coils 14, 15, 16, 17, 18, 11, and 12 sequentially reaches its peak value over time. Simultaneously, the direction of the rotating current flowing through each coil is controlled so that the N or S pole of the magnetic field generated by each coil 13, 14, 15, 16, 17, 18, 11, and 12 at the peak of the rotating current faces the rotor 2, attracting the reference portion of the rotor 2. Thus, in a clockwise direction, coils 13, 14, 15, 16, 17, 18, 11, and 12 sequentially apply magnetic force (e.g., attractive force) to the reference portion of the rotor 2 over time, driving the rotor 2 to rotate clockwise. It should be noted that... Figure 3A This is a plan view of the stator 1 and rotor 2 when the reference coil 13 reaches the peak of the rotating current. At this time, rotating current is simultaneously applied to coils 11 to 18, and the reference coil 13 reaches the peak of the rotating current. By controlling the direction of the rotating current, the N or S pole of the magnetic field generated by the reference coil 13 is directed towards the rotor 2 to attract the reference part of the rotor 2, and the reference coil 13 drives the rotor 2 to start rotating. Afterwards, although not shown, as the rotor 2 rotates, coil 14 reaches the peak of the rotating current and applies a magnetic force (e.g., attraction force) to the reference part of the rotor 2, driving the rotor 2 to continue rotating clockwise; and so on, coils 15, 16, 17, 18, 11, and 12 successively reach the peak of the rotating current over time and successively apply a magnetic force (e.g., attraction force) to the reference part of the rotor 2, driving the rotor 2 to continue rotating clockwise. It should also be noted that since rotor 2 is a magnetic rotor, regardless of whether the N pole or S pole of the magnetic field generated by the rotating current flowing through each coil is facing rotor 2, it will have an attractive effect on the reference part of rotor 2. In this way, compared with permanent magnet rotor, the difficulty of controlling the direction of the rotating current flowing through each coil when driving the magnetic rotor to rotate can be slightly reduced.

[0060] For example, according to an embodiment of this disclosure, the rotation control command is a counterclockwise rotation control command. In this case, the reference coil is located to the left of the reference portion of the rotor 2 in the counterclockwise direction. Starting from the reference coil, the coils on multiple stator teeth 1t sequentially reach the peak value of the rotational current in the counterclockwise direction and control the direction of the rotational current to sequentially apply magnetic force (e.g., attractive force) to the reference portion of the rotor 2 in the counterclockwise direction, thereby driving the rotor 2 to rotate counterclockwise. As an example, see [link to example]. Figure 3B Using the upper left protrusion 2p of rotor 2 as the reference part, the rotation control command is a counterclockwise rotation control command to instruct rotor 2 to rotate in the counterclockwise direction. Stator 1 has eight stator teeth 1t, and the coils wound on these eight stator teeth 1t are coil 11, coil 12, coil 13, coil 14, coil 15, coil 16, coil 17, and coil 18. In this case, coil 11, located to the left of the reference part (e.g., the upper left protrusion 2p) of rotor 2 in the counterclockwise direction, is used as the reference coil. Coils 11, 12, 13, 14, 15, 16, 17, and 18 are simultaneously supplied with rotating current, and starting from the reference coil 11, coil 1 rotates in the counterclockwise direction. 1. The rotating current flowing through coils 18, 17, 16, 15, 14, 13, and 12 sequentially reaches its peak value over time. Simultaneously, the direction of the rotating current flowing through each coil is controlled so that the N or S pole of the magnetic field generated by each coil 11, 18, 17, 16, 15, 14, 13, and 12 at the peak value of the rotating current faces the rotor 2, attracting the reference portion of the rotor 2. This causes coils 11, 18, 17, 16, 15, 14, 13, and 12 to sequentially apply magnetic force (e.g., attractive force) to the N pole of the reference portion of the rotor 2 in a counter-clockwise direction, driving the rotor 2 to rotate counter-clockwise. It should be noted that... Figure 3BThis is a planar schematic diagram of the stator 1 and rotor 2 when the reference coil 11 reaches the peak of the rotating current. At this time, rotating current is simultaneously applied to coils 11 to 18. The reference coil 11 reaches the peak of the rotating current. By controlling the direction of the rotating current, the N or S pole of the magnetic field generated by the reference coil 11 is directed towards the rotor 2 to attract the reference part of the rotor 2. The reference coil 11 drives the rotor 2 to start rotating. Subsequently, although not shown, as the rotor 2 rotates, coil 18 reaches the peak of the rotating current and applies a magnetic force (e.g., attraction force) to the reference part of the rotor 2, driving the rotor 2 to continue rotating counterclockwise. Similarly, coils 17, 16, 15, 14, 13, and 12 sequentially reach the peak of the rotating current over time and sequentially apply a magnetic force (e.g., attraction force) to the reference part of the rotor 2, driving the rotor 2 to continue rotating counterclockwise. It should also be noted that since rotor 2 is a magnetic rotor, regardless of whether the N pole or S pole of the magnetic field generated by the rotating current flowing through each coil is facing rotor 2, it will have an attractive effect on the reference part of rotor 2. In this way, compared with permanent magnet rotor, the difficulty of controlling the direction of the rotating current flowing through each coil when driving the magnetic rotor to rotate can be slightly reduced.

[0061] For example, according to embodiments of this disclosure, the location acquisition device includes a Hall sensor. Figure 2A and Figure 2B As an example, Hall sensors 10x, 11x, 10y, and 11y are shown mounted on stator 1. Figure 3A and Figure 3B As an example, Hall sensors 10a, 10b, and 10c mounted on the stator are shown. By using multiple Hall sensors, the accuracy of obtaining the angular position α of the reference part of the rotor 2 relative to the stator 1 can be improved. For example, in Figure 2A and Figure 2B In this configuration, rotor 2 is a permanent magnet rotor. In this case, the permanent magnet rotor generates a magnetic field distributed according to a cosine pattern. Two radially symmetrical Hall sensors 10x and 11x detect and determine the absolute value of the angle of the reference section of rotor 2. Two radially symmetrical Hall sensors 10y and 11y further detect and determine the actual value of the angle of the reference section of rotor 2 based on the aforementioned absolute angle value, thereby ultimately obtaining the angular position α of the reference section of rotor 2 relative to stator 1. Setting two radially symmetrical Hall sensors 10x and 11x and two radially symmetrical Hall sensors 10y and 11y allows for differential calculation of the detection results, improving the accuracy and sensitivity of the detection. It should be noted that if differential calculation is not considered, in... Figure 2A and Figure 2B In this configuration, only Hall sensors 10x and 10y can be set, or only Hall sensors 11x and 11y can be set. For example, in... Figure 3A and Figure 3BIn the rotor 2, the magnetic rotor is provided with Hall sensors 10a, 10b and 10c arranged in a concentrated manner, so that once the reference part (i.e. the protrusion 2p) of the rotor 2 passes through the area where the Hall sensors 10a, 10b and 10c are concentrated, it will be accurately detected and the angular position α of the reference part of the rotor 2 relative to the stator 1 will be obtained.

[0062] Figure 4 This is a second schematic diagram of the frame of a bearingless magnetic levitation motor with forward and reverse rotation according to an embodiment of this disclosure. See also... Figure 4 In the bearingless magnetic levitation motor with forward and reverse rotation according to an embodiment of the present disclosure, for each of the plurality of stator teeth 1t, only one coil is wound around it; the power amplification device is a half-bridge power topology circuit and a superimposed current is passed into the coil. This superimposed current includes a rotating current component and a suspending current component. The rotating current component can be regarded as the rotating current as described above, and the suspending current component can be regarded as the suspending current as described above. Since only one coil is wound on each stator tooth 1t, the possibility of short circuit between coils in the case of multiple coils is avoided and the slot fill factor of the motor is guaranteed. For example, the half-bridge power topology circuit includes a plurality of half-bridge power amplifiers, which are connected one-to-one with the plurality of coils. As an example, Figure 4 The diagram shows the one-to-one connection between eight half-bridge power amplifiers i1 to i8 and the eight coils on stator 1. It should be noted that, in the above reference... Figures 2A to 3B In the description, the peak value of the rotating current refers to the peak value of the rotating current component, and the direction of the rotating current flow refers to the direction in which the rotating current component enters the coil. See also... Figure 4 The main control device includes a rotating current component sub-device, a floating current component sub-device, and a current superposition sub-device. After receiving the angular position α and rotation control command, the main control device controls the rotating current component through the rotating current component sub-device, controls the floating current component through the floating current component sub-device, and superimposes the rotating current component and the floating current component through the current superposition sub-device. Then, the half-bridge power topology circuit supplies the superimposed current to the coil. For example, the rotating current component sub-device, the floating current component sub-device, and the current superposition sub-device are respectively a rotating current component sub-circuit, a floating current component sub-circuit, and a current superposition sub-circuit.

[0063] Figure 5 This is schematic diagram three of the frame of a bearingless magnetic levitation motor for forward and reverse rotation according to an embodiment of this disclosure. See also... Figure 5In the bearingless magnetic levitation motor with forward and reverse rotation according to an embodiment of the present disclosure, for each of the plurality of stator teeth 1t, the coil wound thereon includes a rotating coil and a levitation coil that are insulated from each other; the power amplification device includes a first power amplification circuit and a second power amplification circuit; the first power amplification circuit is electrically connected to the rotating coil to pass a rotational current controlling the rotation of the rotor 2 into the rotating coil; the second power amplification circuit is electrically connected to the levitation coil to pass a levitation current controlling the levitation of the rotor 2 into the levitation coil. As an example, Figure 5 Coils 11, 12, 13, 14, 15, 16, 17, and 18 are rotating coils, and the first power amplifier circuit is electrically connected to these rotating coils respectively. Figure 5 The coils other than coils 11 to 18 are floating coils, and the second power amplifier circuit is electrically connected to these floating coils respectively; for the sake of simplifying the view, in Figure 5 The connection lines between the second power amplifier circuit and these floating coils are omitted.

[0064] As described above, in the forward and reverse magnetic levitation bearingless motor according to the embodiments of this disclosure, the coils on multiple stator teeth 1t are simultaneously energized while maintaining both stable rotation and stable levitation. In this case, the rotational current and levitation current in the coils on the multiple stator teeth 1t are set as follows: the rotational current is configured to construct a Pt-pole rotating magnetic field, and the levitation current is configured to construct a Ps-pole levitation magnetic field, where Pt is the number of poles of the rotating magnetic field, Ps is the number of poles of the levitation magnetic field, and satisfies Ps=Pt+2 or Ps=Pt-2; the rotational current supplied to the coil on each stator tooth 1t is a first cosine current or a first sine current, and the multiple stator teeth 1t are energized simultaneously. The phase difference between the first cosine current or the first sine current supplied to the coil on the stator tooth 1t is 360Mt / (2N+2) degrees. The floating current supplied to the coil on each stator tooth 1t is the second cosine current or the second sine current. The phase difference between the second cosine current or the second sine current supplied to the coil on multiple stator teeth 1t is 360Ms / (2N+2) degrees. When the rotor 2 rotates once in space, the first cosine current or the first sine current completes Mt complete cycles, and the second cosine current or the second sine current completes Ms complete cycles, where Pt=2Mt and Ps=2Ms.

[0065] Furthermore, in order to ensure a constant levitation force by matching the levitation magnetic field with the rotating magnetic field during the rotation of the rotating magnetic field to drive the rotor 2, when Ps = Pt + 2, the rotational speed of the rotating magnetic field is greater than the rotational speed of the levitation magnetic field, and the ratio of the rotational speed of the rotating magnetic field to the rotational speed of the levitation magnetic field is (Mt + 1) / Mt; and when Ps = Pt - 2, the rotational speed of the rotating magnetic field is less than the rotational speed of the levitation magnetic field, and the ratio of the rotational speed of the rotating magnetic field to the rotational speed of the levitation magnetic field is (Mt - 1) / Mt. In the case of Ps = Pt + 2, for example, Pt = 4 and Ps = 6, the rotating magnetic field and rotor 2 rotate 90 degrees. o The levitation magnetic field rotates 60 degrees. o At this point, the rotational speed of the rotating magnetic field is 3 / 2 times the rotational speed of the suspending magnetic field, that is, the rotational speed of the rotating magnetic field is (Mt+1) / Mt times the rotational speed of the suspending magnetic field. For example, if Pt=2 and Ps=4, then the rotating magnetic field and rotor 2 rotate 180 degrees. o The levitation magnetic field rotates 90 degrees. o The rotational speed of the rotating magnetic field is twice that of the levitation magnetic field, that is, the rotational speed of the rotating magnetic field is (Mt+1) / Mt times the rotational speed of the levitation magnetic field. In the case of Ps=Pt-2, for example, Pt=4, Ps=2, then the rotating magnetic field and rotor 2 rotate 90 degrees. o The levitation magnetic field rotates 180 degrees. o The rotational speed of the rotating magnetic field is half the rotational speed of the suspending magnetic field, that is, the rotational speed of the rotating magnetic field is (Mt-1) / Mt of the rotational speed of the suspending magnetic field. It should be noted that the rotational speeds of the rotating and suspending magnetic fields depend on the mechanical angle of the rotor in space, which is different from the electrical angle of the current flowing through the coil. The relationship between the electrical and mechanical angles is: Electrical angle = Mechanical angle × Number of pole pairs. For example, when Pt=2 and Ps=4, the electrical angle of the rotating current = Mechanical angle of the rotating magnetic field × Number of pole pairs of the rotating magnetic field. In this case, the electrical angle of the rotating current is the same as the mechanical angle of the rotating magnetic field. However, the electrical angle of the suspending current = Mechanical angle of the suspending magnetic field × Number of pole pairs of the suspending magnetic field. In this case, the electrical angle of the suspending current is twice the mechanical angle of the suspending magnetic field, and the mechanical angle of the rotating magnetic field is twice the mechanical angle of the suspending magnetic field. Therefore, the electrical angles of the rotating current and the suspending current are of the same frequency. Figure 6 This is a schematic diagram of the rotating rotor, rotating magnetic field, and levitation magnetic field of a bearingless magnetic levitation motor according to an embodiment of this disclosure. As an example, it shows the case where Pt=2 and Ps=4. The circle in the diagram represents rotor 2, and N and S inside the circle represent the N and S poles of rotor 2. N and S outside the circle represent the N and S poles of the levitation magnetic field. It can be seen that the levitation magnetic field is a 4-pole magnetic field. The underlined area outside the circle... N andS The N and S poles of the rotating magnetic field are shown, indicating that it is a two-pole magnetic field. From... Figure 6 It is clearly visible that the rotating magnetic field and rotor 2 rotate 180 degrees. o The levitation magnetic field rotates 90 degrees. o .

[0066] Figure 7 This is a schematic diagram of the frame of a forward and reverse magnetic levitation bearingless motor according to an embodiment of the present disclosure. Figure 4 See also Figure 7 The reversible magnetic levitation bearingless motor according to embodiments of the present disclosure further includes a mode control device. This mode control device is connected to a main control device and configured to control the reversible magnetic levitation bearingless motor to switch between a first mode and a second mode. In the first mode, the reversible magnetic levitation bearingless motor according to embodiments of the present disclosure rotates only clockwise or only counterclockwise. In the second mode, the reversible magnetic levitation bearingless motor according to embodiments of the present disclosure can switch between clockwise and counterclockwise rotation. For example, the mode control device is a user-operable device (e.g., a toggle switch). In this case, the user can switch the reversible magnetic levitation bearingless motor according to embodiments of the present disclosure between the first and second modes by operating the mode control device. By providing a mode control device, the controllability of the reversible magnetic levitation bearingless motor according to embodiments of the present disclosure is further improved, making it applicable to any application scenario. For example, in application scenarios where a reversing function is not required, to prevent accidental reversal from causing unnecessary damage, the first mode can be set as the default mode. In the default mode, even if the main control device receives a reversing command, it will not operate. This avoids accidental reversal from causing unnecessary damage. Furthermore, the second mode can only be used after it is turned on, that is, the forward and reverse mode can only be used after it is turned on, to prevent adverse consequences caused by the motor reversing.

[0067] According to embodiments of this disclosure, a control method for a forward and reverse magnetic levitation bearingless motor is also provided. Figure 8 This is a schematic flowchart of a control method for a reversible magnetic levitation bearingless motor according to an embodiment of the present disclosure. The reversible magnetic levitation bearingless motor according to an embodiment of the present disclosure includes: a stator 1, the stator 1 including a plurality of stator teeth 1t, each stator tooth 1t having a coil wound on it; and a rotor 2, the stator 1 surrounding the rotor 2 or the rotor 2 surrounding the stator 1, wherein a rotational current for controlling the rotation of the rotor 2 and a levitation current for controlling the levitation of the rotor 2 are supplied to the aforementioned coils, and the rotor 2 has a reference portion. See also Figure 8The control method for a reversible magnetic levitation bearingless motor according to an embodiment of this disclosure includes: acquiring a rotation control command and acquiring the angular position α of the reference part of the rotor 2 relative to the stator 1; based on the angular position α and the rotation control command, selecting a reference coil and controlling the order in which the coils on multiple stator teeth 1t reach the peak value of the rotating current and the energizing direction of the rotating current of the coil on each stator tooth 1t, thereby controlling the rotation direction of the rotor 2, during which the rotating magnetic field generated by the rotating current rotates; simultaneously controlling the order in which the coils on multiple stator teeth 1t reach the peak value of the levitation current and the energizing direction of the levitation current of the coil on each stator tooth 1t, thereby controlling the rotor 2 to levitate, during which the levitation magnetic field generated by the levitation current rotates, and the rotation direction of the rotating magnetic field is the same as the rotation direction of the levitation magnetic field, and the rotation speed of the rotating magnetic field is different from the rotation speed of the levitation magnetic field. According to embodiments of this disclosure, a reference coil is selected from the coils on multiple stator teeth 1t based on the angular position α and rotation control commands. The order in which the coils on multiple stator teeth 1t reach their peak current, starting from this reference coil, and the energizing direction of the coils on each stator tooth 1t, are controlled. This allows the rotor 2 to rotate clockwise or counterclockwise as needed. Therefore, the control method for the magnetic levitation bearingless motor according to embodiments of this disclosure allows for simple and flexible selection of the rotation direction as needed. It can select between counterclockwise and clockwise start as required, and can switch between counterclockwise and clockwise rotation as needed. In other words, it achieves the forward and reverse rotation function of the magnetic levitation bearingless motor. Furthermore, according to embodiments of this disclosure, by controlling the order in which the coils on multiple stator teeth 1t reach the peak value of the levitation current and the energizing direction of the levitation current on each stator tooth 1t, the levitation magnetic field can also rotate, and the rotation direction of the rotating magnetic field is the same as that of the levitation magnetic field. Further, since Ps = Pt + 2 or Ps = Pt - 2, Ps is not equal to Pt, therefore the rotation speed of the rotating magnetic field must be different from the rotation speed of the levitation magnetic field to ensure that the rotating magnetic field and the levitation magnetic field are matched. The magnetic levitation bearingless motor according to embodiments of this disclosure can easily and flexibly select the rotation direction as needed. Under this premise, the magnetic levitation bearingless motor according to embodiments of this disclosure can also effectively balance the stable rotation and stable levitation of the rotor 2, exhibiting excellent performance. For example, the rotor 2 is a permanent magnet rotor with magnetic poles, which are the reference portion of the rotor 2. In the control method according to embodiments of this disclosure, a reference coil is selected such that the angular position of the reference coil relative to the stator 1 differs from the angular position of the reference portion relative to the stator 1 by an angle. For example, the angle difference between the angular position of the reference coil relative to the stator 1 and the angular position of the reference part relative to the stator 1 is less than or equal to 90 degrees; preferably, the angle difference between the angular position of the reference coil relative to the stator 1 and the angular position of the reference part relative to the stator 1 is 90 degrees.For example, if the rotation control command is a clockwise rotation control command, in the control method according to an embodiment of this disclosure, the reference coil is located to the left of the reference portion of the rotor 2 in the clockwise direction. Starting from the reference coil, the coils on multiple stator teeth 1t sequentially reach the peak value of the rotating current in the clockwise direction, and the direction of the rotating current is controlled to sequentially apply magnetic force (e.g., repulsive force) to the reference portion of the rotor 2 in the clockwise direction, thereby driving the rotor 2 to rotate clockwise. Alternatively, if the rotation control command is a counterclockwise rotation control command, in the control method according to an embodiment of this disclosure, the reference coil is located to the right of the reference portion of the rotor 2 in the counterclockwise direction. Starting from the reference coil, the coils on multiple stator teeth 1t sequentially reach the peak value of the rotating current in the counterclockwise direction, and the direction of the rotating current is controlled to sequentially apply magnetic force (e.g., repulsive force) to the reference portion of the rotor 2 in the counterclockwise direction, thereby driving the rotor 2 to rotate counterclockwise.

[0068] For example, rotor 2 is a magnetic rotor and includes a plurality of protrusions 2p protruding toward stator 1, one of which is a reference portion of rotor 2. In the control method according to an embodiment of the present disclosure, a reference coil is selected such that the angular position of the reference coil relative to stator 1 differs from the angular position of the reference portion relative to stator 1 by an angle. For example, the angle difference between the angular position of the reference coil relative to stator 1 and the angular position of the reference portion relative to stator 1 is less than or equal to 90 degrees. Preferably, provided that the angular position of the reference coil relative to stator 1 differs from the angular position of the reference portion relative to stator 1 by an angle, the coil closest to the reference portion of rotor 2 is used as the reference coil. For example, the rotation control command is a clockwise rotation control command. In the control method according to an embodiment of the present disclosure, the reference coil is located to the right of the reference portion of rotor 2 in the clockwise direction. Starting from the reference coil, the coils on a plurality of stator teeth 1t sequentially reach the peak value of the rotating current in the clockwise direction and control the energizing direction of the rotating current to sequentially apply magnetic force (e.g., attractive force) to the reference portion of rotor 2 in the clockwise direction, thereby driving rotor 2 to rotate clockwise. For example, according to an embodiment of the present disclosure, the rotation control command is a counterclockwise rotation control command. In the control method according to an embodiment of the present disclosure, the reference coil is located to the left of the reference portion of the rotor 2 in the counterclockwise direction. Starting from the reference coil, the coils on multiple stator teeth 1t sequentially reach the peak value of the rotational current in the counterclockwise direction and control the energizing direction of the rotational current to sequentially apply magnetic force (e.g., attractive force) to the reference portion of the rotor 2 in the counterclockwise direction, thereby driving the rotor 2 to rotate counterclockwise.

[0069] It should be noted that the control method of the forward and reverse magnetic levitation bearingless motor according to the embodiments of this disclosure can refer to the above description of the forward and reverse magnetic levitation bearingless motor. Figures 1 to 7The features of the reversible magnetic levitation bearingless motor described herein can all be applied to the control method of the reversible magnetic levitation bearingless motor according to the embodiments of this disclosure, and will not be repeated here. More specifically, the features of the reversible magnetic levitation bearingless motor defined in the embodiments of this disclosure can all be applied to the control method of the reversible magnetic levitation bearingless motor according to the embodiments of this disclosure.

[0070] According to embodiments of this disclosure, a forward and reverse magnetic levitation bearingless motor system is also provided. Figure 9 This is a schematic diagram of the framework of a forward and reverse magnetic levitation bearingless motor system according to an embodiment of the present disclosure. Figure 1 See also Figure 9 The reversible magnetic levitation bearingless motor according to an embodiment of this disclosure includes: a processor; and a memory, including one or more computer program modules; wherein the one or more computer program modules are stored in the memory and configured to be executed by the processor, and the one or more computer program modules include instructions for implementing the control method described above. The working principle and technical effects of this reversible magnetic levitation bearingless motor system can be referred to the reversible magnetic levitation bearingless motor and its control method according to an embodiment of this disclosure as described above, and will not be repeated here.

[0071] For example, memory is used to store non-transitory computer-readable instructions (e.g., one or more computer program modules). A processor is used to execute these non-transitory computer-readable instructions, which, when executed by the processor, can perform one or more steps of the control method described above. The memory and processor can be interconnected via a bus system and / or other forms of connection (not shown).

[0072] For example, the processor can be a central processing unit (CPU), a graphics processing unit (GPU), or other form of processing unit with data processing and / or program execution capabilities. For instance, the CPU can be based on x86 or ARM architectures. The processor can be a general-purpose processor or a dedicated processor, capable of controlling components in a forward and reverse magnetic levitation bearingless motor to perform desired functions.

[0073] Figure 10 This is a second schematic diagram of the frame of a forward and reverse magnetic levitation bearingless motor system according to an embodiment of this disclosure. See also... Figure 10 A reversible magnetic levitation bearingless motor system is suitable for implementing the control method provided in the embodiments of this disclosure. The reversible magnetic levitation bearingless motor system can be a terminal device, etc. It should be noted that... Figure 10 The illustrated forward and reverse magnetic levitation bearingless motor system is merely an example and does not impose any limitation on the functionality and scope of use of the embodiments disclosed herein.

[0074] like Figure 10As shown, the reversible magnetic levitation bearingless motor system may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 810, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 820 or a program loaded from a storage device 880 into a random access memory (RAM) 830. The RAM 830 also stores various programs and data required for the operation of the reversible magnetic levitation bearingless motor system. The processing device 810, ROM 820, and RAM 830 are interconnected via a bus 840. An input / output (I / O) interface 850 is also connected to the bus 840.

[0075] Typically, the following devices can be connected to I / O interface 850: input devices 860 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 870 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 880 including, for example, magnetic tapes, hard disks, etc.; and communication devices 890. Communication device 890 allows the reversible magnetic levitation bearingless motor system to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 10 A forward and reverse magnetic levitation bearingless motor system with various devices is shown, but it should be understood that it is not required to implement or have all the devices shown, and the forward and reverse magnetic levitation bearingless motor system may alternatively implement or have more or fewer devices.

[0076] For example, according to embodiments of this disclosure, the control method described above can be implemented as a computer software program. For instance, embodiments of this disclosure include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program including program code for executing the control method described above. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 890, or installed from a storage device 880, or installed from a ROM 820. When the computer program is executed by the processing device 810, the control method provided by embodiments of this disclosure can be implemented.

[0077] According to embodiments of this disclosure, a computer-readable storage medium is also provided. Figure 11 This is a schematic diagram of a computer-readable storage medium according to an embodiment of the present disclosure. See also: Figure 11The computer-readable storage medium 900 provided in this embodiment is used to store non-transitory computer-readable instructions 910, which, when executed by a computer, can implement the above-described control method. The working principle and technical effects of this computer-readable storage medium 900 can be referred to the above-described forward and reverse magnetic levitation bearingless motor and control method, and will not be repeated here. For example, this storage medium 900 can be applied to the above-described forward and reverse magnetic levitation bearingless motor system. For example, the storage medium 900 can be... Figure 9 The memory in the forward and reverse magnetic levitation bearingless motor system shown.

[0078] For example, storage medium 900 may include a memory card of a smartphone, a storage component of a tablet computer, a hard disk of a personal computer, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), portable compact disc read-only memory (CD-ROM), flash memory, or any combination of the above storage media, or other suitable storage media.

[0079] According to embodiments of this disclosure, a magnetic levitation device is also provided. See also Figures 12-17 Depending on the specific application, the magnetic levitation device of this invention can be configured as a magnetic levitation pump, a magnetic levitation stirring device, or a magnetic levitation turntable, etc. The following will describe in detail the products of this invention configured for different purposes, with reference to the accompanying drawings.

[0080] In one application embodiment, the magnetic levitation device is configured as a magnetic levitation pump, see [link to relevant documentation]. Figure 12 and Figure 13 The magnetic levitation pump includes the forward and reverse magnetic levitation bearingless motor 100 of the above embodiments. The magnetic levitation pump also includes a pump head 3, which includes a pump housing 31 and a rotor impeller 32 disposed in the pump housing. The rotor impeller includes a rotor 2, which is both the rotor 2 of the forward and reverse magnetic levitation bearingless motor and part of the rotor impeller 32 of the pump. It can be, for example, a permanent magnet rotor, a short-circuit cage rotor, or a reluctance rotor. The forward and reverse magnetic levitation bearingless motor is configured to drive the rotor impeller to rotate and levitate, and to drive the rotor impeller to rotate forward and / or reverse according to the usage scenario.

[0081] In another application embodiment, see Figure 14 , Figure 15 and Figure 16The magnetic levitation device can also be configured as a magnetic levitation stirring device. In the application of the magnetic levitation stirring device, the magnetic levitation stirring device includes the forward and reverse magnetic levitation bearingless motor 100 of the above embodiments. The magnetic levitation stirring device also includes a stirring device 3', which includes a stirring container 31' and a rotor stirring head 32' disposed in the stirring container. The rotor stirring head includes a rotor, which is both the rotor of the forward and reverse magnetic levitation bearingless motor and part of the rotor stirring head 32' of the stirring device. The forward and reverse magnetic levitation bearingless motor is configured to drive the rotor stirring head 32' to rotate and levitate, and drives the rotor stirring head to rotate forward and / or reverse according to the usage scenario. Figure 14 As shown, assuming the motor rotates forward (e.g., counterclockwise), depending on the mixing scenario, the rotor impeller structure can be configured to generate vortices during forward motor rotation. These vortices then draw down substances that float easily but do not sink, thereby improving mixing and stirring efficiency. Similarly, vortices can be generated when the motor rotates in reverse (e.g., clockwise), such as... Figure 15 As shown. Figure 16 As shown, in other mixing scenarios, it is undesirable to generate vortices, as these could descend to the rotor mixing head under high power, affecting the rotor's balance or stability, or even creating unwanted cavitation that damages the medium. Therefore, by controlling the timing of the motor's forward and reverse rotation, the mixing process can be made vortex-free, preventing vortex influence on the rotor mixing head and avoiding cavitation and medium damage caused by vortices. This better meets the mixing and stirring needs of clean environments such as biopharmaceutical, semiconductor, and chip manufacturing.

[0082] In another application embodiment, see Figure 17 The magnetic levitation device can also be configured as a magnetic levitation turntable. Similarly, the magnetic levitation turntable includes the forward and reverse magnetic levitation bearingless motor 100 of the above embodiments. The magnetic levitation turntable also includes a rotor support platform 3”, which includes a platform 31” and a rotor 32”. The platform 31” and the rotor 32” are connected. The forward and reverse magnetic levitation bearingless motor is configured to drive the rotor support platform to rotate and levitate, and to drive the rotor support platform to rotate forward and / or reverse according to the usage scenario.

[0083] The magnetic levitation device of this invention can also be equipped with different functional accessories according to other functional applications, thus becoming a magnetic levitation device with different application requirements.

[0084] The above are merely exemplary embodiments of this disclosure and are not intended to limit the scope of protection of this disclosure, which is determined by the appended claims.

Claims

1. A bearingless magnetic levitation motor for forward and reverse rotation, comprising: The stator includes a plurality of stator teeth, each stator tooth having a coil wound around it; The rotor, wherein the stator is disposed around the rotor or the rotor is disposed around the stator, the rotor having a reference portion; A position acquisition device is configured to acquire the angular position of the reference portion of the rotor relative to the stator; A rotation control device configured to provide rotation control commands; The system includes a main control unit and a power amplifier. The main control unit is connected to the position acquisition device, the rotation control device, and the power amplifier, respectively. The power amplifier is also electrically connected to the coil to supply a rotational current for controlling the rotor's rotation and a levitation current for controlling the rotor's levitation to the coil. The main control device, the power amplifier device, the stator, and the rotor are configured such that, based on the angular position and the rotation control command, the main control device selects a reference coil and controls the order in which the coils on the plurality of stator teeth reach the peak value of the rotating current and the direction of the rotating current of the coils on each stator tooth, starting from the reference coil, through the power amplifier device, thereby controlling the rotation direction of the rotor. During this process, the rotating magnetic field generated by the rotating current rotates. The main control device, the power amplifier, the stator, and the rotor are further configured such that: the main control device controls the order in which the coils on the plurality of stator teeth reach the peak value of the levitation current and the direction of the levitation current of the coils on each stator tooth through the power amplifier, thereby controlling the levitation of the rotor; during this process, the levitation magnetic field generated by the levitation current rotates; and The rotating magnetic field rotates in the same direction as the suspending magnetic field, but the rotating magnetic field rotates at a different speed than the suspending magnetic field.

2. The bearingless magnetic levitation motor with forward and reverse rotation according to claim 1, wherein, The rotor is a permanent magnet rotor and has magnetic poles, the magnetic poles being the reference part of the rotor; The angular position of the reference coil relative to the stator differs from the angular position of the reference part relative to the stator by an angle.

3. The bearingless magnetic levitation motor with forward and reverse rotation according to claim 2, wherein, The rotation control command is a clockwise rotation control command. In this case, the reference coil is located to the left of the reference section in the clockwise direction. Starting from the reference coil, the coils on the plurality of stator teeth sequentially reach the peak value of the rotating current in the clockwise direction and control the direction of the rotating current to sequentially apply magnetic force to the reference section in the clockwise direction, thereby driving the rotor to rotate clockwise; or... The rotation control command is a counterclockwise rotation control command. In this case, the reference coil is located to the right of the reference part in the counterclockwise direction. Starting from the reference coil, the coils on the multiple stator teeth reach the peak value of the rotating current in the counterclockwise direction in sequence and control the direction of the rotating current to apply magnetic force to the reference part in the counterclockwise direction in sequence, thereby driving the rotor to rotate counterclockwise.

4. The bearingless magnetic levitation motor with forward and reverse rotation according to claim 2, wherein, The angle difference between the angular position of the reference coil relative to the stator and the angular position of the reference part relative to the stator is 90 degrees.

5. The bearingless magnetic levitation motor with forward and reverse rotation according to claim 1, wherein, The rotor is a magnetic rotor and includes a plurality of protrusions projecting toward the stator, one of which is a reference portion of the rotor; The angular position of the reference coil relative to the stator differs from the angular position of the reference part relative to the stator by an angle.

6. The bearingless magnetic levitation motor with forward and reverse rotation according to claim 5, wherein, The rotation control command is a clockwise rotation control command. In this case, the reference coil is located to the right of the reference section in the clockwise direction. Starting from the reference coil, the coils on the plurality of stator teeth sequentially reach the peak value of the rotating current in the clockwise direction and control the direction of the rotating current to sequentially apply magnetic force to the reference section in the clockwise direction, thereby driving the rotor to rotate clockwise; or... The rotation control command is a counterclockwise rotation control command. In this case, the reference coil is located to the left of the reference part in the counterclockwise direction. Starting from the reference coil, the coils on the multiple stator teeth reach the peak value of the rotating current in the counterclockwise direction in sequence and control the direction of the rotating current to apply magnetic force to the reference part in the counterclockwise direction in sequence, thereby driving the rotor to rotate counterclockwise.

7. The bearingless magnetic levitation motor with forward and reverse rotation according to any one of claims 1-6, wherein, The location acquisition device includes a Hall sensor.

8. The bearingless magnetic levitation motor with forward and reverse rotation according to any one of claims 1-6, wherein, For each of the plurality of stator teeth, only one coil is wound around it; The power amplifier is a half-bridge power topology circuit and passes a superimposed current into the coil. The superimposed current includes a rotating current component and a floating current component. The rotating current component is used as the rotating current, and the floating current component is used as the floating current.

9. The bearingless magnetic levitation motor with forward and reverse rotation according to any one of claims 1-6, wherein, For each of the plurality of stator teeth, the coil wound thereon comprises a rotating coil and a levitating coil that are insulated from each other; The power amplification device includes a first power amplification circuit and a second power amplification circuit. The first power amplifier circuit is electrically connected to the rotating coil to pass the rotating current that controls the rotation of the rotor into the rotating coil; The second power amplifier circuit is electrically connected to the suspension coil to pass the suspension current that controls the levitation of the rotor into the suspension coil.

10. The bearingless magnetic levitation motor with forward and reverse rotation according to any one of claims 1-6, wherein, The rotating current is configured to construct a Pt-pole rotating magnetic field, and the levitation current is configured to construct a Ps-pole levitation magnetic field, where Pt is the number of poles of the rotating magnetic field, Ps is the number of poles of the levitation magnetic field, and satisfies Ps = Pt + 2 or Ps = Pt - 2. The rotating current supplied to the coil on each stator tooth is the first cosine current or the first sine current, and the phases of the first cosine current or the first sine current supplied to the coils on multiple stator teeth are successively 360Mt / (2N+2) degrees apart. The floating current supplied to the coil on each stator tooth is a second cosine current or a second sine current. The phases of the second cosine current or the second sine current supplied to the coils on multiple stator teeth are successively 360Ms / (2N+2) degrees apart. When the rotor rotates once in space, the first cosine current or the first sine current completes Mt complete cycles, and the second cosine current or the second sine current completes Ms complete cycles, where Pt = 2Mt and Ps = 2Ms.

11. The bearingless magnetic levitation motor with forward and reverse rotation according to claim 10, wherein, In the case of Ps = Pt + 2, the rotational speed of the rotating magnetic field is greater than the rotational speed of the suspending magnetic field; When Ps = Pt-2, the rotational speed of the rotating magnetic field is less than the rotational speed of the suspending magnetic field.

12. The bearingless magnetic levitation motor with forward and reverse rotation according to claim 11, wherein, In the case of Ps=Pt+2, the ratio of the rotational speed of the rotating magnetic field to the rotational speed of the levitation magnetic field is (Mt+1) / Mt; When Ps = Pt-2, the ratio of the rotational speed of the rotating magnetic field to the rotational speed of the levitation magnetic field is (Mt-1) / Mt.

13. The reversible magnetic levitation bearingless motor according to any one of claims 1-6 further includes a mode control device, which is connected to the main control device and configured to control the reversible magnetic levitation bearingless motor to switch between a first mode and a second mode; In the first mode, the forward and reverse magnetic levitation bearingless motor rotates only clockwise or only counterclockwise; In the second mode, the forward and reverse magnetic levitation bearingless motor can switch between clockwise and counterclockwise rotation.

14. A control method for a forward and reverse rotating magnetic levitation bearingless motor, wherein, The forward and reverse magnetic levitation bearingless motor includes: Stator, the stator comprising a plurality of stator teeth, each stator tooth having a coil wound around it; and A rotor, wherein the stator is arranged around the rotor or the rotor is arranged around the stator, a rotational current for controlling the rotation of the rotor and a levitation current for controlling the levitation of the rotor are supplied to the coils, and the rotor has a reference portion. The control method includes: Obtain rotation control commands to obtain the angular position of the rotor's reference section relative to the stator; Based on the angular position and the rotation control command, a reference coil is selected, and the order in which the coils on multiple stator teeth reach the peak value of the rotating current, starting from the reference coil, and the direction of the rotating current flow of the coils on each stator tooth are controlled, thereby controlling the rotation direction of the rotor. During this process, the rotating magnetic field generated by the rotating current rotates. Simultaneously, the order in which the coils on the multiple stator teeth reach the peak value of the levitation current, and the direction of the levitation current flow of the coils on each stator tooth are controlled, thereby controlling the rotor to levitate. During this process, the levitation magnetic field generated by the levitation current rotates, and... The rotating magnetic field rotates in the same direction as the suspending magnetic field, but the rotating magnetic field rotates at a different speed than the suspending magnetic field.

15. A forward and reverse magnetic levitation bearingless motor system, comprising: processor; Memory, including one or more computer program modules; The one or more computer program modules are stored in the memory and configured to be executed by the processor, and the one or more computer program modules include instructions for implementing the control method of claim 14.

16. A computer-readable storage medium storing non-transitory computer-readable instructions that, when executed by a computer, implement the control method of claim 14.

17. A magnetic levitation device, wherein, The magnetic levitation device is configured as a magnetic levitation pump, which includes a forward and reverse magnetic levitation bearingless motor as described in any one of claims 1-13, and further includes a pump casing and a rotor impeller disposed within the pump casing, the rotor impeller comprising the rotor; or... The magnetic levitation device is configured as a magnetic levitation stirring device, which includes a forward and reverse magnetic levitation bearingless motor as described in any one of claims 1-13, and further includes a stirring container and a rotor stirring head disposed within the stirring container, the rotor stirring head including the rotor; or... The magnetic levitation device is configured as a magnetic levitation turntable, which includes a forward and reverse magnetic levitation bearingless motor as described in any one of claims 1-13, and also includes a rotor support platform, which includes the rotor.

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