Claw pole type magnetic suspension torque motor based on auxiliary grooves and design method thereof

Abstract

The invention discloses a claw-pole type magnetic suspension torque motor based on auxiliary grooves and a design method thereof, the motor comprises a stator assembly and a rotor assembly, and the rotor assembly comprises a rotor iron core and permanent magnets; the permanent magnets are uniformly distributed on the outer circular surface of the rotor iron core in the circumferential direction; the magnetizing directions of the permanent magnets are radial magnetizing, and the magnetizing directions of the adjacent permanent magnets are opposite; the stator assembly comprises a claw pole, a coil framework, a coil and a shell; the claw pole comprises an upper claw pole and a lower claw pole which are oppositely arranged along the axial direction, a plurality of claw pole teeth are arranged on the opposite surfaces of each claw pole, the claw pole teeth are uniformly distributed at intervals along the circumferential direction, and a tooth groove is formed between every two adjacent claw pole teeth; the upper claw pole and the lower claw pole are folded up and down, the claw pole teeth of one claw pole are inserted into the tooth grooves of the other claw pole, and the rotor assembly is surrounded by the upper claw pole teeth and the lower claw pole teeth. Zero-point positioning is carried out by using the circumferential restoring torque between the stator assembly and the rotor assembly, and a mechanical spring is not needed; and each claw pole tooth 120 is provided with an auxiliary groove 110 for increasing the circumferential restoring torque.

Description

Technical Field

[0001] The invention relates to a claw-pole magnetic suspension torque motor based on auxiliary slots and a design method thereof. Background Art

[0002] The hydraulic system is one of the common energy conversion and transmission systems in industry, and the electro-hydraulic reversing valve is a key basic component. As a bridge connecting the electrical part and the hydraulic part of the electro-hydraulic reversing valve, the electro-mechanical converter plays a decisive role in its performance. The claw-pole magnetic levitation torque motor is an electro-mechanical converter for valves that uses the magnetic force between the stator and the rotor for zero-point positioning and power-off reset. Although the claw-pole magnetic levitation torque motor has the advantages of simple structure, large output angular displacement, convenient zero-point positioning, and high power-to-weight ratio, it is constrained by the insufficient stiffness of the zero-point circumferential positive magnetic spring, resulting in a large error in its zero-point positioning. Summary of the invention

[0003] The present invention aims to overcome the above-mentioned disadvantages of the prior art and provides a claw-pole magnetic suspension torque motor based on auxiliary slots and a design method thereof.

[0004] A first aspect of the present invention is to provide a claw-pole magnetic suspension torque motor based on auxiliary slots, wherein the zero-point circumferential positive magnetic spring of the torque motor has high stiffness and accurate zero-point positioning.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] A claw-pole magnetic suspension torque motor based on auxiliary slots, consisting of a stator assembly and a rotor assembly;

[0007] The rotor assembly consists of a rotor core and permanent magnets;

[0008] The rotor core is fixedly connected to external components through the rotor connection port, and outputs torque and angular displacement outward; the permanent magnets are evenly distributed on the outer circumferential surface of the rotor core; the magnetization direction of the permanent magnets is radial magnetization, and the magnetization directions of adjacent permanent magnets are opposite;

[0009] The stator assembly consists of two claw poles, a coil frame, a coil, and a housing;

[0010] The coil is distributed on the coil frame; the claw pole and the coil frame are fixedly connected to the shell, and the shell is fixedly connected to the external component through the shell threaded hole; the claw pole includes an upper claw pole and a lower claw pole arranged opposite to each other in the axial direction, and a plurality of claw pole teeth are provided on the opposite surface of each claw pole, and the claw pole teeth are evenly spaced and distributed in the circumferential direction, and tooth grooves are formed between two adjacent claw pole teeth; the upper claw pole and the lower claw pole are closed up and down, and the claw pole teeth of the claw pole are inserted into the tooth grooves of the other claw pole, and the upper claw pole teeth and the lower claw pole teeth surround the rotor assembly;

[0011] Each claw pole tooth is provided with an auxiliary groove; the auxiliary groove is arranged on the center line of the claw pole tooth so that the claw pole tooth is symmetrical about the auxiliary groove; the auxiliary groove extends along the axial direction of the claw pole tooth so as to penetrate the entire claw pole tooth.

[0012] Preferably, the permanent magnet can be rectangular or tile-shaped;

[0013] Preferably, the pole arc coefficient of the rotor assembly is 0.8-1;

[0014] The number of claw pole teeth can be arbitrary, as long as it is greater than 2;

[0015] Preferably, the claw pole teeth may be trapezoidal or rectangular;

[0016] Preferably, the number of permanent magnets is equal to the number of claw pole teeth;

[0017] Preferably, two groups of coils are used;

[0018] When the rotor assembly is in zero position, each permanent magnet faces two claw pole teeth, and the facing areas are equal;

[0019] The torque motor utilizes the circumferential restoring torque between the stator assembly and the rotor assembly for zero point positioning without requiring a mechanical spring.

[0020] In order to achieve precise positioning of the claw-pole magnetic levitation torque motor at the zero point and improve the circumferential positive magnetic spring stiffness of the zero point, the second aspect of the present invention is to provide a method for improving the circumferential positive magnetic spring stiffness of the claw-pole magnetic levitation torque motor based on an auxiliary slot.

[0021] To achieve this object, the present invention adopts the following technical solutions:

[0022] A design method for a claw-pole magnetic suspension torque motor based on an auxiliary slot, wherein the positive magnetic spring torque is a magnetic torque between a stator assembly and a rotor assembly of the claw-pole magnetic suspension torque motor for zero point positioning and power-off reset, comprises the following steps:

[0023] S1: Determine the basic structural parameters of the torque motor;

[0024] Determine the outer diameter Rr of the permanent magnet of the claw-pole magnetic suspension torque motor based on the auxiliary slot, the inner diameter Rs1 of the claw-pole teeth, the outer diameter Rs2 of the claw-pole teeth, the thickness Lp of the permanent magnet, the height Hp of the permanent magnet, the width Wp of the permanent magnet, the number N of the permanent magnet and the claw-pole teeth, the maximum axial working single-side stroke Y of the torque motor, and the working air gap g of the torque motor according to the design requirements;

[0025] S2: Determine the initial size of the claw pole teeth;

[0026] The method for determining the initial size of the claw pole teeth includes: the recommended value range of the claw pole tooth height Hc is The recommended value range of the claw pole tooth inclination angle α is 65°≤α≤85°, and the recommended value range of the claw pole tooth spacing is t>1mm

[0027] S3: Calculate the circumferential restoring moment and electromagnetic torque;

[0028] A finite element simulation model is constructed to calculate the restoring torque at different angular displacements and the electromagnetic torque at zero position at different excitation currents, and the angular displacement-restoring torque curve is plotted; the gain of the angular displacement-restoring torque curve at each position is the circumferential positive magnetic spring stiffness at that position, and if the zero-point gain is negative, it indicates that the torque motor has a circumferential positive magnetic spring stiffness;

[0029] S4: Optimize electromagnetic torque;

[0030] On the basis of ensuring that the torque motor has a circumferential positive magnetic spring stiffness, an optimization design method is adopted, with the electromagnetic torque as the optimization target, and within the recommended value range described in step S2, the claw pole tooth height Hc, claw pole tooth inclination angle α, and claw pole tooth spacing t are used as adjustable parameters for simulation analysis. The optimal claw pole tooth height Hc, claw pole tooth inclination angle α, and claw pole tooth spacing t are selected;

[0031] S5: Open an auxiliary groove on the center line of the claw pole tooth and determine the initial size;

[0032] The torque motor three-dimensional model is drawn according to the optimal design parameters selected in step S4, and an auxiliary groove is opened on the center line of the claw pole tooth. The method for determining the initial size of the claw pole tooth auxiliary groove includes: the recommended value range of the auxiliary groove width Wa is g≤W a ≤2t, the recommended value range of the auxiliary groove depth Da is D a ≤g;

[0033] S6: Calculate the circumferential restoring moment and electromagnetic torque, and optimize the circumferential restoring moment;

[0034] A finite element simulation model was constructed to calculate the restoring torque at different angular displacements and the electromagnetic torque at zero position at different excitation currents. The optimization design method was adopted, and the positive circumferential positive magnetic spring stiffness at zero point was taken as the optimization target. Within the recommended value range described by S5, the auxiliary slot width Wa and auxiliary slot depth Da were taken as adjustable parameters for simulation analysis. The optimal auxiliary slot width Wa and auxiliary slot depth Da were selected.

[0035] The working principle of the present invention is:

[0036] When the claw-pole magnetic levitation torque motor is not powered, the circumferential restoring torque between the claw-pole teeth and the permanent magnet is used for zero-point positioning, without the need for a zeroing spring. The circumferential restoring torque of the claw-pole magnetic levitation torque motor changes due to the relative displacement between the stator and the rotor, which is similar to a spring and plays the same role as a spring. Therefore, the claw-pole magnetic levitation torque motor is said to have a circumferential positive magnetic spring. The gain of the circumferential restoring torque is called the circumferential positive magnetic spring stiffness.

[0037] The circumferential restoring torque of the claw-pole magnetic levitation torque motor is caused by the tangential component of the interaction force between the permanent magnet and the claw-pole tooth slot, and the restoring torque still exists when the coil is not energized. This force always tries to align the center line of the permanent magnet with the center line of the tooth slot between the two claw-pole teeth. Since most of the energy changes in the claw-pole magnetic levitation torque motor occur at the position of the air gap space corresponding to the tooth slot between the two claw-pole teeth when the permanent magnet passes through, if some auxiliary slots are reasonably added to the claw-pole teeth, the magnetic resistance at the auxiliary slot position will increase, and the magnetic flux will basically not enter the claw-pole teeth from the auxiliary slot position. This is equivalent to increasing the number of claw-pole slots in the torque motor, changing the pole-slot matching of the torque motor, and can effectively improve the restoring torque. The purpose of adding auxiliary slots is essentially to reduce the harmonic order of the main effect of the restoring torque and increase its amplitude.

[0038] The present invention improves the circumferential positive magnetic spring stiffness of the claw-pole magnetic suspension torque motor by reasonably increasing the auxiliary slots.

[0039] The beneficial effects of the present invention are:

[0040] (1) The present invention provides a method for improving the circumferential positive magnetic spring stiffness of a torque motor. While ensuring the positive circumferential positive magnetic spring stiffness, auxiliary grooves are opened on the claw pole teeth to improve the circumferential positive magnetic spring stiffness and increase the accuracy of zero point positioning.

[0041] (2) The present invention provides a claw-pole magnetic levitation torque motor based on auxiliary slots, which has high output torque and high positive circumferential positive magnetic spring stiffness, and can accurately perform zero-point positioning without the need for mechanical springs. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is an exploded view of the assembly of the present invention.

[0043] Figure 2 FIG. 2 is a diagram of a rotor assembly according to the present invention.

[0044] Figure 3 It is a cross-sectional view of the stator assembly of the present invention.

[0045] Figure 4 It is a basic structural schematic diagram of the present invention.

[0046] Figure 5Schematic diagram of the claw pole teeth matching on the two claw poles.

[0047] Figure 6 A schematic diagram of auxiliary slot parameters.

[0048] Explanation of the reference numerals: 100, claw pole; 100A, lower claw pole; 100B, upper claw pole; 110, auxiliary slot; 120, claw pole tooth; 120A, lower claw pole tooth; 120B, upper claw pole tooth; 200, permanent magnet; 200A, permanent magnet A; 200B, permanent magnet B; 300A, coil A; 300B, coil B; 400, housing; 410, housing threaded hole; 500, coil skeleton; 600, rotor core; 610, rotor connection port; Rr, outer diameter of permanent magnet; Rs1, inner diameter of claw pole tooth; Rs2, outer diameter of claw pole tooth; Hp, height of permanent magnet; Wp, width of permanent magnet; Hc, height of claw pole tooth; α, inclination angle of claw pole tooth; t, spacing of claw pole teeth; Wa, width of auxiliary slot; Da, depth of auxiliary slot DETAILED DESCRIPTION

[0049] The following will clearly and completely describe the technical solution of the invention patent in conjunction with the accompanying drawings. Obviously, the implementation cases described are part of the implementation cases of the present invention, not all of the implementation cases. Based on the implementation cases in the present invention, all other implementation cases obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0051] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] Example 1

[0053] Reference below Figure 1-Figure 3 The structure of a claw-pole magnetic levitation torque motor based on auxiliary slots according to a specific embodiment of the present invention is described.

[0054] This embodiment provides a structure of a claw-pole magnetic suspension torque motor based on an auxiliary slot, such as Figure 1 shown.

[0055] The torque motor is composed of a claw pole 100 , a permanent magnet 200 , a coil 300 , a housing 400 , a coil frame 500 , and a rotor core 600 .

[0056] The rotor core 600 and the permanent magnet 200 form a rotor assembly;

[0057] The rotor core 600 is fixedly connected to external components through the rotor connection port 610 to output torque and angular displacement outward; the permanent magnets 200 are evenly distributed on the outer circumferential surface of the rotor core 600; the magnetization direction of the permanent magnets 200 is radial magnetization, and the magnetization directions of adjacent permanent magnets 200A and permanent magnets 200B are opposite;

[0058] The claw pole 100, the coil frame 500, the coil 300, and the housing 400 constitute a stator assembly; two groups of coils 300 are distributed on the coil frame, namely coil A 300A and coil B 300B; the claw pole 100 and the coil frame 500 are fixedly connected to the housing 400, and the housing 400 is fixedly connected to external components through threaded holes 410;

[0059] The claw pole 100 comprises an upper claw pole 100B and a lower claw pole 100A which are arranged opposite to each other in the axial direction, and a plurality of claw pole teeth 120 are provided on the opposite surfaces of each claw pole 100; the upper claw pole 100B and the lower claw pole 100A are closed up and down, and the claw pole teeth of the claw pole are inserted into the tooth grooves of the other claw pole, so that the upper claw pole teeth 120B and the lower claw pole teeth 120A surround the rotor assembly; the claw pole teeth 120 are evenly spaced and distributed in the circumferential direction, so that tooth grooves are formed between two adjacent claw pole teeth 120A and claw pole teeth 120B; each claw pole tooth 120 is provided with an auxiliary groove 110; the auxiliary groove 110 is arranged on the center line of the claw pole tooth 120, so that the claw pole tooth 120 is symmetrical about the auxiliary groove 110; the auxiliary groove 110 extends along the axial direction of the claw pole tooth 120 so as to penetrate the entire claw pole tooth 120;

[0060] The permanent magnet 200 can be rectangular or tile-shaped. In this embodiment, the tile-shaped one is selected.

[0061] The pole arc coefficient of the rotor assembly is not fixed and can be from 0.8 to 1. In this implementation case, the pole arc coefficient selected is 0.9;

[0062] The number of claw pole teeth 120 can be any, as long as it is greater than 2. In this embodiment, the number of claw pole teeth selected is 18;

[0063] The claw pole teeth 120 may be trapezoidal or rectangular. The shape of the claw pole teeth 120 selected in this embodiment is trapezoidal;

[0064] The number of permanent magnets 200 is equal to the number of claw pole teeth 120;

[0065] When the rotor assembly is at zero position, each permanent magnet 200 is directly opposite to two claw pole teeth 120 , and the directly opposite areas are equal;

[0066] The torque motor utilizes the circumferential restoring torque between the stator assembly and the rotor assembly for zero point positioning without requiring a mechanical spring.

[0067] Example 2

[0068] This embodiment provides a method for improving the positive circumferential positive magnetic spring stiffness of a claw-pole magnetic suspension torque motor based on an auxiliary slot. The method specifically comprises the following steps:

[0069] S1. Determine the basic structural parameters of the torque motor

[0070] According to the design requirements, the outer diameter Rr of the permanent magnet 200 of the claw-pole magnetic levitation torque motor based on the auxiliary slot, the inner diameter Rs1 of the claw-pole tooth 120, the inner diameter Rs2 of the claw-pole tooth 120, the thickness Lp of the permanent magnet 200, the height Hp of the permanent magnet 200, the width Wp of the permanent magnet 200, the number N of the permanent magnet 200 and the claw-pole tooth 120, the working air gap g between the permanent magnet 200 and the claw-pole tooth 120, and the maximum unilateral axial working stroke Y of the torque motor are determined, as shown in detail. Figure 1 , Figure 4 As shown;

[0071] S2. Determine the initial size of the claw pole teeth

[0072] According to the formula Determine the height Hc of the claw pole teeth 120, determine the inclination angle α of the claw pole teeth 120 according to the recommended value range of 65°≤α≤85°, and determine the spacing t of the claw pole teeth 120 according to the recommended value range of t>1mm, as shown in the following example: Figure 5 As shown;

[0073] S3: Calculation of circumferential restoring moment and electromagnetic torque

[0074] A finite element simulation model is constructed to calculate the restoring torque at different angular displacements and the electromagnetic torque at zero position at different excitation currents, and the angular displacement-restoring torque curve is plotted. The gain at each position of the angular displacement-restoring torque curve is the circumferential positive magnetic spring stiffness at that position. If the zero-point gain is negative, it indicates that the torque motor has a positive circumferential positive magnetic spring stiffness.

[0075] S4: Optimizing electromagnetic torque

[0076] On the basis of ensuring that the torque motor has positive circumferential positive magnetic spring stiffness, the Taguchi method is adopted, with electromagnetic torque as the optimization target, and within the recommended value range described by S2, the height Hc of the claw pole tooth 120, the inclination angle α of the claw pole tooth 120, and the spacing t of the claw pole tooth 120 are taken as adjustable parameters, and an orthogonal table is constructed for experimental analysis. The optimal height Hc of the claw pole tooth 120, the inclination angle α of the claw pole tooth 120, and the spacing t of the claw pole tooth 120 are selected by signal-to-noise ratio analysis.

[0077] S5: Opening the auxiliary groove 110 on the center line of the claw pole tooth 120 and determining the initial size

[0078] The torque motor three-dimensional model is drawn according to the optimal design parameters selected in S4, and an auxiliary groove 110 is opened on the center line of the claw pole tooth 120. According to the recommended value range g≤W a ≤2t determines the width Wa of the auxiliary groove 110, and the recommended value range is D a ≤g determines the depth Da of the auxiliary groove 110, as shown in Figure 6 As shown;

[0079] S6: Calculate the circumferential restoring moment and electromagnetic torque, and optimize the circumferential restoring moment

[0080] A finite element simulation model was constructed to calculate the restoring torque at different angular displacements and the electromagnetic torque at zero position at different excitation currents. The Taguchi method was used, and the positive circumferential positive magnetic spring stiffness at zero point was taken as the optimization target. Within the recommended value range described in S5, the width Wa of the auxiliary slot 110 and the depth Da of the auxiliary slot 110 were taken as adjustable parameters, and an orthogonal table was constructed for experimental analysis. The optimal width Wa and depth Da of the auxiliary slot 110 were selected using signal-to-noise ratio analysis.

[0081] The contents described in the embodiments of this specification are merely an enumeration of implementation forms of the inventive concept. The protection scope of the present invention should not be deemed to be limited to the specific forms described in the embodiments. The protection scope of the present invention also extends to equivalent technical means that can be conceived by those skilled in the art based on the inventive concept.

Claims

1. A claw-pole magnetic suspension torque motor based on auxiliary slots, consisting of a stator assembly and a rotor assembly, characterized in that: The rotor assembly consists of a rotor core and permanent magnets; The rotor core is fixedly connected to external components through the rotor connection port, and outputs torque and angular displacement outward; the permanent magnets are evenly distributed on the outer circumferential surface of the rotor core; the magnetization direction of the permanent magnets is radial magnetization, and the magnetization directions of adjacent permanent magnets are opposite; The stator assembly consists of two claw poles, a coil frame, a coil, and a housing; The coil is distributed on the coil frame; the claw pole and the coil frame are fixedly connected to the shell, and the shell is fixedly connected to the external component through the shell threaded hole; the claw pole includes an upper claw pole and a lower claw pole arranged opposite to each other in the axial direction, and a plurality of claw pole teeth are provided on the opposite surface of each claw pole, and the claw pole teeth are evenly spaced and distributed in the circumferential direction, and tooth grooves are formed between two adjacent claw pole teeth; the upper claw pole and the lower claw pole are closed up and down, and the claw pole teeth of the claw pole are inserted into the tooth grooves of the other claw pole, and the upper claw pole teeth and the lower claw pole teeth surround the rotor assembly; Each claw pole tooth is provided with an auxiliary groove; the auxiliary groove is arranged on the center line of the claw pole tooth so that the claw pole tooth is symmetrical about the auxiliary groove; the auxiliary groove extends along the axial direction of the claw pole tooth so as to penetrate the entire claw pole tooth.

2. A claw-pole magnetic suspension torque motor based on auxiliary slots as claimed in claim 1, characterized in that: When the rotor assembly is at zero position, each permanent magnet faces two claw pole teeth, and the facing areas are equal.

3. The claw-pole magnetic suspension torque motor based on auxiliary slots according to claim 1, characterized in that: The permanent magnets are rectangular or tile-shaped.

4. The claw-pole magnetic suspension torque motor based on auxiliary slots according to claim 1, characterized in that: The pole arc factor of the rotor assembly is 0.8-1.

5. The claw-pole magnetic suspension torque motor based on auxiliary slots according to claim 1, characterized in that: The claw pole teeth are trapezoidal or rectangular.

6. The claw-pole magnetic suspension torque motor based on auxiliary slots according to claim 1, characterized in that: The number of permanent magnets is equal to the number of claw pole teeth.

7. The claw-pole magnetic suspension torque motor based on auxiliary slots according to claim 1, characterized in that: The coils are in two groups.

8. The design method of a claw-pole magnetic suspension torque motor based on auxiliary slots as claimed in claim 1, characterized in that: The positive magnetic spring torque is the magnetic torque between the stator assembly and the rotor assembly of the claw-pole magnetic suspension torque motor used for zero point positioning and power-off reset, including the following steps: S1: Determine the basic structural parameters of the torque motor; Determine the outer diameter Rr of the permanent magnet of the claw-pole magnetic suspension torque motor based on the auxiliary slot, the inner diameter Rs1 of the claw-pole teeth, the outer diameter Rs2 of the claw-pole teeth, the thickness Lp of the permanent magnet, the height Hp of the permanent magnet, the width Wp of the permanent magnet, the number N of the permanent magnet and the claw-pole teeth, the maximum axial working single-side stroke Y of the torque motor, and the working air gap g of the torque motor according to the design requirements; S2: Determine the initial size of the claw pole teeth; The method for determining the initial size of the claw pole teeth includes: the value range of the claw pole tooth height Hc is The value range of the claw pole tooth inclination angle α is 65°≤α≤85°, and the value range of the claw pole tooth spacing is t>1mm; S3: Calculate the circumferential restoring moment and electromagnetic torque; A finite element simulation model is constructed to calculate the restoring torque at different angular displacements and the electromagnetic torque at zero position at different excitation currents, and the angular displacement-restoring torque curve is plotted; the gain of the angular displacement-restoring torque curve at each position is the circumferential positive magnetic spring stiffness at that position, and if the zero-point gain is negative, it indicates that the torque motor has a circumferential positive magnetic spring stiffness; S4: Optimize electromagnetic torque; On the basis of ensuring that the torque motor has a circumferential positive magnetic spring stiffness, an optimization design method is adopted, with the electromagnetic torque as the optimization target, and within the recommended value range described in step S2, the claw pole tooth height Hc, the claw pole tooth inclination angle α, and the claw pole tooth spacing t are used as adjustable parameters for simulation analysis; the optimal claw pole tooth height Hc, the claw pole tooth inclination angle α, and the claw pole tooth spacing t are screened out; S5: Open an auxiliary groove on the center line of the claw pole tooth and determine the initial size; A three-dimensional model of the torque motor is drawn according to the optimal design parameters selected in step S4, and an auxiliary groove is opened on the center line of the claw pole tooth; the method for determining the initial size of the claw pole tooth auxiliary groove includes: the value range of the auxiliary groove width Wa is g≤W a ≤2t, the value range of the auxiliary groove depth Da is D a ≤g; S6: Calculate the circumferential restoring moment and electromagnetic torque, and optimize the circumferential restoring moment; A finite element simulation model is constructed to calculate the restoring torque at different angular displacements and the electromagnetic torque at zero position at different excitation currents. An optimization design method is adopted, with the positive circumferential positive magnetic spring stiffness at zero point as the optimization target. Within the recommended value range described in step S5, the auxiliary groove width Wa and the auxiliary groove depth Da are used as adjustable parameters for simulation analysis. The optimal auxiliary groove width Wa and auxiliary groove depth Da are screened out.

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