A magnetic levitation permanent magnet speed regulator based on magnetic levitation linear motor and speed regulation method thereof

Abstract

The present invention discloses a magnetic levitation permanent magnet speed regulator based on a magnetic levitation linear motor and a speed regulation method thereof. The magnetic levitation linear motor comprises a cylindrical magnetic levitation linear motor, an axial single-degree-of-freedom hybrid magnetic bearing, and a dual cylindrical permanent magnet regulator. The control coil of the axial single-degree-of-freedom hybrid magnetic bearing is always energized, keeping the mover in a suspended state. The three-phase winding coils of the cylindrical magnetic levitation linear motor are energized according to changes in the external load to generate thrust that causes the mover to move axially, thereby driving the stator of the axial magnetic bearing to move axially. The axial air gap changes of the axial magnetic bearing are detected, and the axial magnetic bearing is controlled to generate a magnetic attraction that causes the magnetic bearing rotor to move axially, driving the sleeve on the transmission shaft to move linearly, changing the contact surface between the permanent magnet regulators, and adjusting the output torque and speed. The magnetic levitation permanent magnet speed regulator proposed by the present invention achieves more precise speed control, ensuring high-efficiency transmission. It also reduces vibration and noise, optimizes the permanent magnet regulator, and extends the service life of the equipment.

Description

Technical Field

[0001] The present invention relates to a permanent magnet speed regulation system, in particular to a magnetic suspension permanent magnet speed regulator based on a magnetic suspension linear motor and a speed regulation method thereof. Background Art

[0002] With the continuous development of hybrid magnetic bearing technology, its application field is becoming more and more extensive. Due to its contactless working characteristics, it can be combined with a variety of motor control devices to amplify the working characteristics of these devices, which can optimize traditional motor control devices to varying degrees.

[0003] As a traditional motor speed control device, the permanent magnet speed regulator plays a vital role in the variable speed operation and efficiency improvement of the motor. Its fast response characteristics can meet the dynamic operation requirements of the motor such as rapid start, stop and sharp speed change. However, at the same time, the traditional permanent magnet speed regulator also has some disadvantages due to its design and structural limitations, such as limited speed regulation range, limited flexibility and adaptability. At present, scholars are studying the combination of hybrid magnetic bearings and linear motors and other technologies with traditional permanent magnet speed regulators to make the permanent magnet speed regulator more intelligent, ensuring its original working characteristics while having better speed regulation capabilities. Summary of the Invention

[0004] Purpose of the invention: In view of the shortcomings of existing permanent magnet speed regulators such as limited speed regulation range, limited flexibility and adaptability, the present invention discloses a magnetic levitation permanent magnet speed regulator based on a magnetic levitation linear motor and a speed regulation method thereof, which reduces mechanical friction, mechanical vibration and noise to a certain extent, and controls the coupling area of ​​the double-cylinder permanent magnet regulator with the help of a cylindrical linear motor, thereby improving the accuracy of speed control and the speed regulation range.

[0005] Technical solution: The present invention discloses a magnetic levitation permanent magnet speed regulator based on a magnetic levitation linear motor, comprising a cylindrical magnetic levitation linear motor I, an axial single-degree-of-freedom hybrid magnetic bearing II, and a double-cylinder permanent magnet regulator III;

[0006] The axial single-degree-of-freedom hybrid magnetic bearing II is arranged on the inner side of the cylindrical magnetic levitation linear motor I, and the pusher part of the cylindrical magnetic levitation linear motor I is fixed to the axial stator of the axial single-degree-of-freedom hybrid magnetic bearing II;

[0007] The cylindrical magnetic suspension linear motor I is provided with a three-phase winding coil, and the axial single-degree-of-freedom hybrid magnetic bearing II is provided with a hybrid magnetic bearing axial control coil. The three-phase winding coil drives the mover to perform linear motion, and the hybrid magnetic bearing axial control coil controls the suspension of the mover of the cylindrical magnetic suspension linear motor I;

[0008] The transmission shaft is connected to a shaft sleeve via a cross spline. The shaft sleeve passes through the cylindrical magnetic levitation linear motor I and the axial single-degree-of-freedom hybrid magnetic bearing II, and is fixedly connected to the rotor and detection ring of the axial single-degree-of-freedom hybrid magnetic bearing II. One end of the shaft sleeve is also fixed to the double-cylinder permanent magnet regulator III. The length of the end of the shaft sleeve away from the double-cylinder permanent magnet regulator III is less than the length of the transmission shaft. The end of the transmission shaft away from the double-cylinder permanent magnet regulator III and the end of the shaft sleeve connected to the double-cylinder permanent magnet regulator III are both connected to the left and right rolling bearing brackets through rolling bearings, which are used to limit the radial change of the transmission shaft.

[0009] The output end of the double-tube permanent magnet regulator III is connected to the load shaft.

[0010] Furthermore, the cylindrical magnetic levitation linear motor 1 comprises:

[0011] The stator comprises an external magnetic isolation aluminum ring, three-phase winding fixed teeth and three-phase winding coils; the three-phase winding fixed teeth are arranged on the external magnetic isolation aluminum ring and the external magnetic isolation aluminum ring is fixed to the housing, and the three-phase winding coils are wound between the three-phase winding fixed teeth;

[0012] The pusher includes an annular permanent magnet array and an internal magnetic isolation aluminum ring; the annular permanent magnet array is arranged on the internal magnetic isolation aluminum ring, and the internal magnetic isolation aluminum ring is connected to the axial stator in the axial single-degree-of-freedom hybrid magnetic bearing II through an internal cylindrical connecting base.

[0013] Furthermore, an axial displacement sensor bracket is fixed on the internal cylindrical connection base, on which an axial displacement sensor is arranged. The axial displacement sensor is opposite to the transmission shaft stator arranged on the transmission shaft sleeve. The transmission shaft stator, the axial displacement sensor bracket and the axial displacement sensor constitute the detection ring.

[0014] Furthermore, the axial single-degree-of-freedom hybrid magnetic bearing II includes:

[0015] A hybrid magnetic bearing axial control coil, a hybrid magnetic bearing axial stator, a hybrid magnetic bearing radial stator, a hybrid magnetic bearing rotor and a permanent magnet ring; the hybrid magnetic bearing axial control coil is wound on the hybrid magnetic bearing axial stator, the hybrid magnetic bearing radial stator is arranged in the hybrid magnetic bearing axial stator and is opposite to the hybrid magnetic bearing rotor, and the permanent magnet ring is arranged between the hybrid magnetic bearing radial stator and the hybrid magnetic bearing axial stator.

[0016] Furthermore, both sides of the transmission shaft are connected to left and right rolling bearing brackets through rolling bearings, so as to limit radial changes of the transmission shaft.

[0017] Furthermore, the structure of the double-tube permanent magnet regulator III includes:

[0018] An outer stator barrel and an inner stator barrel connected to one side of the shaft sleeve, with a gap provided between the outer stator barrel and the inner stator barrel;

[0019] Copper conductors made of the same material are fixed at opposite positions on the inner side of the outer stator barrel and the outer side of the inner stator barrel respectively;

[0020] The combined push-pull annular permanent magnet is placed in the gap between the inner side of the outer stator barrel and the inner stator barrel, and is fixed to the permanent magnet rotor barrel on one side;

[0021] The load shaft is connected to the permanent magnet rotor barrel and is connected to the end cover through a rotating bearing.

[0022] Furthermore, the combined push-pull annular permanent magnets are arranged alternately in N and S rings.

[0023] The present invention also discloses a speed regulation method based on the magnetic levitation permanent magnet speed regulator based on the magnetic levitation linear motor, comprising the following steps:

[0024] When the cylindrical magnetic suspension linear motor 1 detects a change in the external signal, it adjusts the magnitude and direction of the current in the three-phase winding coil to change the magnetic field on the stator of the cylindrical magnetic suspension linear motor 1;

[0025] When the current and magnitude of the three-phase winding coils located in the fixed teeth of the three-phase winding change, a changing magnetic field is generated, which interacts with the magnetic field generated by the annular permanent magnet array. According to the principle of Lorentz force, a driving force is generated. The pusher is acted upon by the driving force and moves linearly along the axial direction.

[0026] The axial displacement sensor captures the change in the displacement signal and feeds back the current to the axial control coil of the hybrid magnetic bearing, driving the axial movement of the hybrid magnetic bearing rotor and ultimately driving the axial movement of the sleeve.

[0027] The axial movement of the sleeve drives the outer stator barrel and the inner stator barrel to move synchronously; the coupling area of ​​the copper conductor and the combined push-pull annular permanent magnet changes. The larger the coupling area, the greater the corresponding torque, and the faster the speed of the driven load shaft. Conversely, the slower the speed, thus achieving speed control.

[0028] Preferably, when performing speed regulation, the material selection of each component is determined first so that the radial and axial air gap magnetic flux density reaches the saturation air gap magnetic flux density B s The specific axial control force generated is determined by the following formula:

[0029]

[0030] Among them, Δl is the axial displacement caused by the linear motor traction, N is the number of turns of the axial control coil of the hybrid magnetic bearing, g zis the axial air gap size of the axial single-degree-of-freedom hybrid magnetic bearing, r is the inner cylinder radius of the double-cylinder permanent magnet regulator III, g d is the air gap size between the inner and outer copper conductors of the double-cylinder permanent magnet regulator III and the combined push-pull annular permanent magnet, i z is the control current generated by the cylindrical linear motor I, i zc is the real-time generated axial control current, Φ c is the axial control magnetic flux generated by the axial control coil of the hybrid magnetic bearing, F m is the magnetomotive force generated by the permanent magnet ring, R m is the permanent magnet reluctance, Φ z± is the axial composite magnetic flux, F z is the axial thrust generated by the hybrid magnetic bearing, S z is the axial magnetic pole area, μ o is the vacuum permeability, μ o =4π×10 -7 H / m.

[0031] Beneficial effects:

[0032] The present invention provides a linear motor-driven dual-cylinder magnetic levitation permanent magnet speed regulator and its speed regulation method. This structure utilizes a cylindrical linear motor embedded with an axial single-degree-of-freedom hybrid magnetic bearing and connected to a dual-cylinder permanent magnet regulator. Compared to conventional permanent magnet speed regulators, this design achieves more precise speed control, reduces mechanical friction, vibration, and noise to a certain extent. By controlling the coupling area of ​​the dual-cylinder permanent magnet regulator with the cylindrical linear motor, the speed control accuracy and speed regulation range are improved. This reduction in friction between the structures ensures high-efficiency transmission, while also reducing vibration and noise, optimizing the permanent magnet speed regulator, and extending the service life of the equipment.

[0033] The present invention connects the drive shaft to the sleeve via a cross spline connection, ensuring that the drive shaft and sleeve can rotate together while also allowing the sleeve to slide axially. The left side of the sleeve is shorter to ensure that the drive shaft can connect to the ball bearing on the left side. The ball bearing allows the drive shaft to rotate, but not to move axially, so the sleeve is used to achieve this axial movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a structural illustration of a linear motor driven double-cylinder magnetic levitation permanent magnet speed regulator and its speed regulation method according to the present invention;

[0035] Figure 2 A diagram showing the arrangement of the internal permanent magnets of a linear motor-driven double-cylinder magnetic levitation permanent magnet speed regulator and its speed regulation method;

[0036] Figure 3 This is a magnetic circuit diagram of a hybrid magnetic bearing for a linear motor-driven double-cylinder magnetic levitation permanent magnet speed regulator and its speed regulation method.

[0037] Among them: I-cylinder-type magnetic levitation linear motor, 1-external magnetic isolation aluminum ring, 2-three-phase winding fixed teeth, 3-three-phase winding coil, 4-annular permanent magnet array, 5-internal magnetic isolation aluminum ring; II-axial single-degree-of-freedom hybrid magnetic bearing, 6-internal cylindrical connecting base, 7-hybrid magnetic bearing axial control coil, 8-hybrid magnetic bearing axial stator, 9-hybrid magnetic bearing radial stator, 10-hybrid magnetic bearing rotor, 11-axial displacement sensor bracket, 12-drive shaft stator, 13-axial displacement sensor; III-double-cylinder permanent magnet regulator, 14-external stator cylinder, 15-inner stator cylinder, 16-copper conductor, 17-combined push-pull annular permanent magnet, 18-permanent magnet rotor cylinder; 19-load shaft, 20-housing, 21-end cover, 22-rolling bearing bracket, 23-left rolling bearing, 24-drive shaft, 25-permanent magnet ring, 26-rotating bearing, 27-sleeve, 28-right rolling bearing. DETAILED DESCRIPTION

[0038] The present invention will be further described below with reference to the accompanying drawings.

[0039] The present invention discloses a magnetic levitation permanent magnet speed regulator based on a magnetic levitation linear motor and a speed regulation method thereof, which are specifically as follows:

[0040] Figure 1 This is a structural diagram illustrating a magnetic levitation permanent magnet speed regulator based on a magnetic levitation linear motor and its speed regulation method according to the present invention. The structure mainly includes: a cylindrical magnetic levitation linear motor I, an axial single-degree-of-freedom hybrid magnetic bearing II, and a double-cylinder permanent magnet regulator III.

[0041] The structure of the cylindrical magnetic suspension linear motor I includes:

[0042] (1) The stator of the cylindrical linear motor 1 consists of an external magnetic-isolating aluminum ring 1, three-phase winding fixed teeth 2, and three-phase winding coils 3. The three-phase winding fixed teeth 2 are mounted on the external magnetic-isolating aluminum ring 1, which is fixed to the housing 20. The three-phase winding coils 3 are wound between the three-phase winding fixed teeth 2.

[0043] (2) The pusher part of the cylindrical magnetic levitation linear motor I includes: an annular permanent magnet array 4 and an internal magnetic isolation aluminum ring 5. The annular permanent magnet array 4 is set on the internal magnetic isolation aluminum ring 5, and the internal magnetic isolation aluminum ring 5 is connected to the axial stator 8 in the axial single-degree-of-freedom hybrid magnetic bearing II through an internal cylindrical connecting base 6.

[0044] The transmission shaft 24 is connected to the shaft sleeve 27 through a cross spline. The shaft sleeve 27 passes through the cylindrical magnetic levitation linear motor I and the axial single-degree-of-freedom hybrid magnetic bearing II, and is fixedly connected to the rotor and detection ring of the axial single-degree-of-freedom hybrid magnetic bearing II. One end of the shaft sleeve is also fixed to the double-cylinder permanent magnet regulator III. The length of the end of the shaft sleeve 27 away from the double-cylinder permanent magnet regulator III is less than the length of the transmission shaft 24. The end of the transmission shaft 24 away from the double-cylinder permanent magnet regulator III and the end of the shaft sleeve 27 connected to the double-cylinder permanent magnet regulator III are both connected to the left and right rolling bearing brackets 20 through rolling bearings, which are used to limit the radial change of the transmission shaft 24.

[0045] The left side of sleeve 27 is shorter to ensure that the drive shaft 24 can connect to the left rolling bearing 23. The left rolling bearing 23 allows the drive shaft 24 to rotate, but not to move axially. The right side of sleeve 27 is connected to the right rolling bearing 28. A cross spline connection is used between the drive shaft 24 and sleeve 27, ensuring that they can rotate together while also allowing the sleeve to slide axially.

[0046] Axial displacement sensor bracket 11 is also fixed to internal cylindrical connection base 6, on which axial displacement sensor 13 is mounted. Axial displacement sensor 13 faces drive shaft stator 12, which is mounted on sleeve 27 of drive shaft 24. Drive shaft stator 12, axial displacement sensor bracket 11, and axial displacement sensor 13 form a detection ring.

[0047] The structure of the axial single-degree-of-freedom hybrid magnetic bearing II includes:

[0048] (1) Hybrid magnetic bearing axial control coil 7, hybrid magnetic bearing axial stator 8, hybrid magnetic bearing radial stator 9, hybrid magnetic bearing rotor 10 and permanent magnet ring 25. The hybrid magnetic bearing axial control coil 7 is wound on the hybrid magnetic bearing axial stator 8. The hybrid magnetic bearing radial stator 9 is arranged inside the hybrid magnetic bearing axial stator 8 and is opposite to the hybrid magnetic bearing rotor 10. The permanent magnet ring is arranged between the hybrid magnetic bearing radial stator 9 and the hybrid magnetic bearing axial stator 8. The shaft sleeve 27 is arranged through the hybrid magnetic bearing rotor 10.

[0049] The hybrid magnetic bearing rotor 10 and the drive shaft stator 12 are both fixed on the sleeve 27. The left and right rolling bearing brackets 20 are connected to the drive shaft 24 and the outside of the sleeve 27 by the left rolling bearing 23 and the right rolling bearing 28 respectively, which are used to limit the radial change of the drive shaft 24 and facilitate the axial movement of the sleeve 27.

[0050] Figure 2 This is a diagram showing the arrangement of the internal permanent magnets of a combined push-pull annular permanent magnet 17 of a magnetic levitation permanent magnet speed regulator based on a magnetic levitation linear motor and its speed regulation method. The permanent magnet structure is arranged alternately in an N-shaped and S-shaped ring.

[0051] The structure of the double-tube permanent magnet regulator III includes:

[0052] (1) The outer stator barrel 14 and the inner stator barrel 15 are connected to the right side of the sleeve 27 , and a gap is provided between the outer stator barrel 14 and the inner stator barrel 15 .

[0053] (2) Copper conductors 16 made of the same material are fixed to the inner side of the outer stator barrel 14 and the outer side of the inner stator barrel 15 respectively.

[0054] (3) The combined push-pull annular permanent magnet 17 is placed between the inner side of the outer stator barrel 14 and the inner stator barrel 15 and is fixed to the permanent magnet rotor barrel 18.

[0055] (4) The left side of the load shaft 19 is connected to the permanent magnet rotor barrel 18, and the upper and lower sides are connected to the end cover 21 through the rotating bearing 26.

[0056] The speed regulation method of the magnetic levitation permanent magnet speed regulator based on the magnetic levitation linear motor has the following steps:

[0057] When the cylindrical magnetic levitation linear motor (I) detects a change in an external signal, it adjusts the magnitude and direction of the current in its three-phase winding coil (3), altering the magnetic field on its stator. This in turn causes the actuator to move linearly. This axial motion of the cylindrical magnetic levitation linear motor (I) drives the inner and outer stator cylinders of the dual-cylinder permanent magnet actuator (III) to move axially, changing the coupling area between the permanent magnet rotor cylinder and the inner and outer stator cylinders, thereby varying the torque output.

[0058] (1) When the cylindrical magnetic levitation linear motor I detects a change in an external signal, the magnetic field on the stator of the cylindrical magnetic levitation linear motor I is changed by adjusting the magnitude and direction of the control current.

[0059] (2) When the current and magnitude of the three-phase winding coil 3 located in the three-phase winding fixed teeth 2 change, a changing magnetic field is generated; this magnetic field interacts with the magnetic field generated by the annular permanent magnet array 4, and according to the principle of Lorentz force, a driving force is generated. The pusher part is affected by the driving force and moves linearly along the axial direction of the stator.

[0060] (3) Due to the axial movement of the cylindrical magnetic levitation linear motor 1, the axial hybrid magnetic bearing axial stator 8, the axial displacement sensor bracket 11, and the axial displacement sensor 13 located on the internal cylindrical connection base 6 move synchronously, causing the axial air gap of the axial hybrid magnetic bearing to change. The axial displacement sensor 13 detects the change in the air gap. To ensure that the hybrid magnetic bearing is always in the center position in the axial direction, the axial displacement sensor 13 will capture the change in the displacement signal and feed back the current to the axial hybrid magnetic bearing axial control coil 7, thereby driving the axial hybrid magnetic bearing rotor 10 to move axially, and ultimately driving the shaft sleeve 27 to move axially.

[0061] (4) The axial movement of the sleeve 27 causes the outer stator barrel 14 and the inner stator barrel 15 located on the right side of the sleeve 27 to move synchronously, so that the coupling area between the copper conductor 16 located on the outer stator barrel 14 and the inner stator barrel 15 and the combined push-pull annular permanent magnet 17 located on the permanent magnet rotor barrel 18 changes; according to the working principle of the cylinder-type permanent magnet regulator, the larger the coupling area, the greater the corresponding torque, thereby making the speed of the driven load shaft greater, and vice versa, the speed is smaller, thereby realizing the speed control of the permanent magnet regulator.

[0062] Figure 3 This is a magnetic circuit diagram of an axial single-degree-of-freedom hybrid magnetic bearing II based on a magnetic levitation permanent magnet speed regulator and its speed regulation method for a magnetic levitation linear motor, wherein the solid line represents the bias flux generated by the permanent magnet ring 25, and the dotted line represents the control flux generated by the control coil.

[0063] When performing the preset timing of the axial single-degree-of-freedom hybrid magnetic bearing II, it is necessary to first determine the material selection of each component so that its radial-axial air gap magnetic density reaches the saturation air gap magnetic density B s The specific axial control force generated is determined by the following formula:

[0064]

[0065] Among them, Δl is the axial displacement caused by the linear motor traction, N is the number of turns of the axial control coil, g z is the axial air gap size of the hybrid magnetic bearing, r is the inner cylinder radius of the double-cylinder speed regulator, g d is the air gap size between the inner and outer barrel copper conductors and the combined push-pull annular permanent magnet, i z is the control current generated by the linear motor, i zc is the real-time generated axial control current, Φ c is the axial control magnetic flux generated by the control coil, F m is the magnetomotive force generated by the permanent magnet, R m is the permanent magnet reluctance, Φ z± is the axial composite magnetic flux, F zis the axial thrust generated by the hybrid magnetic bearing, S z is the axial magnetic pole area, μ o The vacuum permeability is μ o =4π×10 -7 H / m.

[0066] The above embodiments are intended only to illustrate the technical concepts and features of the present invention. Their purpose is to enable those skilled in the art to understand the contents of the present invention and implement them accordingly. They are not intended to limit the scope of protection of the present invention. Any equivalent changes or modifications made in accordance with the spirit of the present invention are intended to be covered by the scope of protection of the present invention.

Claims

1. A magnetic levitation permanent magnet speed regulator based on a magnetic levitation linear motor, characterized in that: It includes a cylindrical magnetic suspension linear motor I, an axial single-degree-of-freedom hybrid magnetic bearing II, and a double-cylinder permanent magnet regulator III; The axial single-degree-of-freedom hybrid magnetic bearing II is arranged on the inner side of the cylindrical magnetic levitation linear motor I, and the pusher part of the cylindrical magnetic levitation linear motor I is fixed to the axial stator of the axial single-degree-of-freedom hybrid magnetic bearing II; The cylindrical magnetic suspension linear motor I is provided with a three-phase winding coil (3), and the axial single-degree-of-freedom hybrid magnetic bearing II is provided with a hybrid magnetic bearing axial control coil (7). The three-phase winding coil (3) drives the mover to perform linear motion, and the hybrid magnetic bearing axial control coil (7) controls the suspension of the mover of the cylindrical magnetic suspension linear motor I. The transmission shaft (24) is connected to a shaft sleeve (27) via a cross spline. The shaft sleeve (27) passes through the cylindrical magnetic suspension linear motor I and the axial single-degree-of-freedom hybrid magnetic bearing II, and is fixedly connected to the rotor and the detection ring of the axial single-degree-of-freedom hybrid magnetic bearing II. One end of the shaft sleeve (27) is also fixed to the double-cylinder permanent magnet regulator III. The length of the end of the shaft sleeve (27) away from the double-cylinder permanent magnet regulator III is less than the length of the transmission shaft (24). The end of the transmission shaft (24) away from the double-cylinder permanent magnet regulator III and the end of the shaft sleeve (27) connected to the double-cylinder permanent magnet regulator III are both connected to the left and right rolling bearing brackets (20) via rolling bearings, so as to limit the radial change of the transmission shaft (24); The output end of the double-tube permanent magnet regulator III is connected to the load shaft (19); When performing speed regulation, the material selection of each component is first determined so that the radial and axial air gap flux density reaches half of the saturation air gap flux density Bs. The specific axial control force generated is determined by the following formula: ； in, is the axial displacement generated by the linear motor traction, N is the number of turns of the hybrid magnetic bearing axial control coil (7), g z is the axial air gap size of the axial single-degree-of-freedom hybrid magnetic bearing, r is the inner cylinder radius of the double-cylinder permanent magnet regulator III, g d is the size of the air gap between the inner and outer tube copper conductors (16) and the combined push-pull type annular permanent magnet (17) of the double tube permanent magnet regulator III, i z is the control current generated by the cylindrical linear motor I, i zc For the real-time generated axial control current, is the axial control magnetic flux generated by the axial control coil (7) of the hybrid magnetic bearing, F m is the magnetomotive force generated by the permanent magnet ring (25), R m is the permanent magnet reluctance, is the axial composite magnetic flux, F z is the axial thrust generated by the hybrid magnetic bearing, S z is the axial magnetic pole area, is the vacuum permeability, which is .

2. The magnetic levitation permanent magnet speed regulator based on a magnetic levitation linear motor according to claim 1, characterized in that: The cylindrical magnetic suspension linear motor 1 comprises: The stator comprises an external magnetic isolation aluminum ring (1), three-phase winding fixed teeth (2) and a three-phase winding coil (3); the three-phase winding fixed teeth (2) are arranged on the external magnetic isolation aluminum ring (1) and the external magnetic isolation aluminum ring (1) is fixed to the housing, and the three-phase winding coil (3) is wound between the three-phase winding fixed teeth (2); The pusher comprises an annular permanent magnet array (4) and an internal magnetic isolation aluminum ring (5); the annular permanent magnet array (4) is arranged on the internal magnetic isolation aluminum ring (5), and the internal magnetic isolation aluminum ring (5) is connected to the axial stator (8) in the axial single-degree-of-freedom hybrid magnetic bearing II through an internal cylindrical connecting base (6).

3. The magnetic levitation permanent magnet speed regulator based on the magnetic levitation linear motor according to claim 2, characterized in that: An axial displacement sensor bracket (11) is also fixed on the internal cylindrical connection base (6), on which an axial displacement sensor (13) is arranged. The axial displacement sensor (13) is directly opposite to the transmission shaft stator (12) arranged on the shaft sleeve (27) of the transmission shaft (24). The transmission shaft stator (12), the axial displacement sensor bracket (11) and the axial displacement sensor (13) constitute the detection ring.

4. The magnetic levitation permanent magnet speed regulator based on a magnetic levitation linear motor according to claim 1, characterized in that: The axial single-degree-of-freedom hybrid magnetic bearing II comprises: A hybrid magnetic bearing axial control coil (7), a hybrid magnetic bearing axial stator (8), a hybrid magnetic bearing radial stator (9), a hybrid magnetic bearing rotor (10), and a permanent magnet ring (25); the hybrid magnetic bearing axial control coil (7) is wound on the hybrid magnetic bearing axial stator (8), the hybrid magnetic bearing radial stator (9) is arranged in the hybrid magnetic bearing axial stator (8) and is directly opposite to the hybrid magnetic bearing rotor (10), and the permanent magnet ring is arranged between the hybrid magnetic bearing radial stator (9) and the hybrid magnetic bearing axial stator (8).

5. The magnetic levitation permanent magnet speed regulator based on a magnetic levitation linear motor according to claim 1, characterized in that: The structure of the double-tube permanent magnet regulator III includes: An outer stator barrel (14) and an inner stator barrel (15) connected to one side of the shaft sleeve (27), with a gap being provided between the outer stator barrel (14) and the inner stator barrel (15); Copper conductors (16) made of the same material are fixed at opposite positions on the inner side of the outer stator cylinder (14) and the outer side of the inner stator cylinder (15); The combined push-pull annular permanent magnet (17) is placed in the gap between the inner side of the outer stator cylinder (14) and the inner stator cylinder (15), and is fixed to the permanent magnet rotor cylinder (18) on one side; The load shaft (19) is connected to the permanent magnet rotor barrel (18), and is connected to the end cover (21) via a rotating bearing (26).

6. The magnetic levitation permanent magnet speed regulator based on the magnetic levitation linear motor according to claim 5, characterized in that: The combined push-pull annular permanent magnets (17) are arranged alternately in N and S rings.

7. A speed control method for a magnetic levitation permanent magnet speed regulator based on a magnetic levitation linear motor according to any one of claims 1 to 6, characterized in that: The following steps are involved: (1) When the cylindrical magnetic levitation linear motor I detects a change in an external signal, the magnitude and direction of the current in the three-phase winding coil (3) are adjusted to change the magnetic field on the stator of the cylindrical magnetic levitation linear motor I; (2) When the current and magnitude of the three-phase winding coil (3) located in the three-phase winding fixed teeth (2) change, a changing magnetic field is generated, which interacts with the magnetic field generated by the annular permanent magnet array (4). According to the principle of Lorentz force, a driving force is generated, and the pusher is acted upon by the driving force and moves linearly along the axial direction; (3) The axial displacement sensor (13) captures the change value of the displacement signal and feeds back the current to the hybrid magnetic bearing axial control coil (7), thereby driving the hybrid magnetic bearing rotor (10) to move axially, and finally driving the shaft sleeve (27) to move axially; (4) The axial movement of the sleeve (27) drives the outer stator barrel (14) and the inner stator barrel (15) to move synchronously; the coupling area between the copper conductor (16) and the combined push-pull annular permanent magnet (17) changes. The larger the coupling area, the greater the corresponding torque, and the greater the speed of the driven load shaft. On the contrary, the speed is smaller, thereby achieving speed control.

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