A flexible superconducting magnetic levitation propulsion device for lunar shadow regions

Abstract

This invention provides a flexible superconducting magnetic levitation propulsion device for use in lunar shadow regions, comprising a flexible stator and a flexible mover, both of which are bendable. The flexible stator comprises several stator segments, which are connected by electrical connectors for signal and power transmission and by snap-fit ​​mechanisms for a secure mechanical connection. A drive module is located in the center of each stator segment, with superconducting magnet modules on either side, all three being laterally fixed together. The flexible stator is laid out to conform to the rugged, soft lunar surface. The flexible mover comprises several mover segments, with a permanent magnet array module in the center and single-peak permanent magnet modules on either side. The flexible mover is levitated above the flexible stator by the magnetic repulsion between the bendable superconducting magnet modules and the single-peak permanent magnet modules. Several tunneling magnetoresistive sensors are installed on both sides of the drive module to sense the position information of the flexible mover. This invention enables high-efficiency, long-life propulsion in static contact with the lunar surface.

Description

Technical Field

[0001] This invention relates to the field of deep space exploration technology, specifically to a flexible superconducting magnetic levitation propulsion device for use in the lunar shadow region. Background Technology

[0002] In the new era of lunar exploration, it is necessary to develop relevant equipment for engineering implementation. Among these, mobile platforms are the core equipment supporting large-scale lunar surface exploration and cargo transportation. Currently, various types of locomotion mechanisms have been proposed, including wheeled, tracked, legged, wheel-leg hybrid, and wheel-track hybrid mechanisms. All of these mechanisms require continuous or discontinuous dynamic contact with the soft lunar regolith, compressing and extruding the regolith during movement, resulting in energy loss, slow speed, and low efficiency. Furthermore, tiny lunar dust particles entering rotating joints and other kinematic pairs can cause wear and jamming, seriously threatening the survivability of the mobile platform. It is worth noting that the lunar surface temperature can reach -180°C, and the temperature in permanently shadowed areas can drop to approximately -248°C. Traditional electromechanical components will face unprecedented challenges, indicating that traditional locomotion mechanisms still have certain shortcomings in lunar engineering applications. To avoid dynamic contact between moving parts and between the locomotion mechanism and the surface, some hovering propulsion methods have been proposed, but all have varying degrees of shortcomings, as described in the following published patents:

[0003] Chinese patent CN 1191183C (Superconducting Magnetic Levitation Transportation System) provides an energy-saving transportation system that utilizes the high-temperature superconducting magnetic levitation effect. It reduces friction loss by using the non-contact levitation state of the transport vehicle, and the vacuum or negative pressure channel can significantly reduce air drag loss. Potential energy provides almost all the operating power, but it does not mention how to adapt to unknown unpaved ground.

[0004] Chinese patent CN 103661420B (Air-floating train system) provides an air-floating train system in which the air-floating train runs on a guide rail or a flat and solid ground under the action of traction force. The system has a simple and compact structure and can realize the guidance and traction of the vehicle and smoothly pass through curved tracks. However, it does not mention how to achieve air-floating traction under conditions where there is no air source or the air source is limited (such as the lunar surface).

[0005] Chinese patent CN 106160581B (Magnetic levitation system based on high-temperature superconducting thin film and its coated conductor) provides a method to achieve superconductor antimagnetic flux performance by using high-temperature superconducting thin film and its coated conductor, which can achieve a large-area, high-visibility levitation effect on permanent magnets. The invented high-temperature superconducting magnetic levitation system has the advantages of low weight, large design area, simple materials, and low cost. However, the paper does not mention how to maintain the levitation stability of the superconducting magnet.

[0006] In summary, the aforementioned patents failed to solve the problem of achieving propulsion functionality through non-dynamic contact and stable suspension under environmental conditions such as rugged and soft lunar surfaces, high vacuum, and extremely low temperatures. Summary of the Invention

[0007] To address the aforementioned technical problems, this invention provides a flexible superconducting magnetic levitation propulsion device for use in the lunar shadow region. This device is adaptable to the rugged and soft lunar surface, high vacuum, and extremely low temperature environment, and can achieve high-efficiency, long-life propulsion in static contact with the lunar surface.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] A flexible superconducting magnetic levitation propulsion device for use in lunar shadow regions includes a flexible stator and a flexible mover, both of which are bendable. The flexible stator comprises several stator segments, which are connected by electrical connectors for signal and power transmission and by snap-fit ​​mechanisms for a secure mechanical connection. A drive module is located in the middle of each stator segment, with superconducting magnet modules on either side, all three being laterally fixed together. The flexible stator is laid out to conform to the rugged and soft lunar surface. The flexible mover comprises several mover segments, with a permanent magnet array module in the middle and single-peak permanent magnet modules on either side. The flexible mover relies on the magnetic repulsion between the bendable superconducting magnet modules and the single-peak permanent magnet modules. Suspended above the flexible stator; several tunnel magnetoresistive sensors are installed on both sides of the drive module to sense the position information of the flexible mover; by controlling the energizing current of the lateral winding of the drive module, the interaction between the magnetic field of the lateral winding coil and the magnetic field of the permanent magnet array module, combined with the position information of the flexible mover, controls the lateral movement of the flexible mover, thereby achieving stable magnetic levitation of the flexible mover; by controlling the energizing current of the longitudinal winding of the drive module, the interaction between the magnetic field of the longitudinal winding coil and the magnetic field of the permanent magnet array module, combined with the position information of the flexible mover, drives the flexible mover to move longitudinally, thereby achieving the propulsion function.

[0010] Furthermore, the segments of the flexible mover are connected by flexible strips.

[0011] Furthermore, the magnetic field data sensed by the tunnel magnetoresistive sensor is transmitted to the control circuit. After processing and calculation, the control circuit outputs a control signal, which powers the multilayer flexible circuit board through the drive circuit, thereby controlling the flexible mover. The snap-fit ​​plugs and snap-fit ​​sockets of different stator sections are interconnected to ensure a firm mechanical connection between the stator sections.

[0012] Furthermore, the drive module includes a rigid circuit board, a drive circuit, a control circuit, an electrical connector plug, a snap plug, an electrical connector socket, a snap socket, a multilayer flexible circuit board, and a tunnel magnetoresistive sensor. The multilayer flexible circuit board, the rigid circuit board, and the rigid circuit board are manufactured as a single unit. The snap plug and the electrical connector plug are mounted on the rigid circuit board, the snap socket and the electrical connector socket are mounted on the rigid circuit board, and the drive circuit and the control circuit are mounted on the rigid circuit board. The tunnel magnetoresistive sensor is mounted on the multilayer flexible circuit board.

[0013] Furthermore, the multilayer flexible circuit board consists of, from top to bottom, a first Al2O3 layer, a first cover layer, a first copper foil layer, a first substrate, a second copper foil layer, a second cover layer, a third copper foil layer, a second substrate, a fourth copper foil layer, a third cover layer, and a second Al2O3 layer, with each layer being bonded together in sequence.

[0014] Furthermore, a longitudinal winding A-phase coil is embedded in the first copper foil layer, a longitudinal winding B-phase coil is embedded in the second copper foil layer, a transverse winding A-phase coil is embedded in the third copper foil layer, and a transverse winding B-phase coil is embedded in the fourth copper foil layer.

[0015] Furthermore, an alternating current with a 90° phase difference is applied to the longitudinal winding A-phase coil and the longitudinal winding B-phase coil to make the flexible mover move longitudinally, and an alternating current with a 90° phase difference is applied to the transverse winding A-phase coil and the transverse winding B-phase coil to make the flexible mover move smoothly transversely; the Al2O3 layer plays a role in enhancing wear resistance and reducing the coefficient of friction.

[0016] Furthermore, the superconducting magnet module includes a third Al2O3 layer, a first high-temperature superconducting tape, a second high-temperature superconducting tape, a third high-temperature superconducting tape, a fourth high-temperature superconducting tape, and a fourth Al2O3 layer, with each layer bonded together sequentially.

[0017] Furthermore, the permanent magnet array module includes permanent magnets.

[0018] Furthermore, the single-peak permanent magnet module includes a permanent magnet and a magnetic yoke.

[0019] Beneficial effects:

[0020] 1. This invention utilizes the low-temperature environment of the lunar shadow region to establish a superconducting state in the superconducting magnet module, and uses pulse magnetization to generate a stable magnetic field that does not decay over time, thus avoiding the need for cryogenic refrigeration equipment for the superconducting magnet.

[0021] 2. The low-temperature environment in the lunar shadow region provides the low-temperature conditions for establishing the superconducting state. After the superconducting magnet module is cooled by zero field, the superconducting magnet modules on both sides of the flexible stator generate a stable magnetic field that does not decay over time under the action of pulse magnetization. The polarity of the magnetic field is opposite to that of the single-peak permanent magnet module above it. Using the principle of like poles repulsion, the flexible mover can be suspended above the flexible stator. However, this suspension is unstable without external constraints. This invention uses the interaction between the magnetic field of the transverse winding coil and the magnetic field of the permanent magnet array module to control the transverse movement of the flexible stator, thereby achieving stable suspension of the flexible mover.

[0022] 3. The superconducting magnet module used in this invention is made of high-temperature superconducting tape stacked together, and the superconducting magnet module can be optimized according to the requirements of magnetic field and flexibility;

[0023] 4. The application environment of this invention is the lunar surface, where the gravity is only one-sixth that of the Earth's surface, which can significantly reduce the requirements for the magnitude of the magnetic levitation force, thereby reducing the manufacturing scale of the superconducting magnet module;

[0024] 5. The flexible stator used in this invention can be laid flat against the rugged and soft lunar surface, achieving static contact with the lunar surface. This avoids energy loss caused by compressing and extruding lunar regolith, thus improving the efficiency of the propulsion device. The flexible mover moves on the flexible stator in a non-contact and frictionless manner, avoiding wear and jamming problems caused by tiny lunar dust particles, thereby extending the service life of the propulsion device. The surface of the flexible stator is coated with an Al2O3 film, which enhances wear resistance and reduces the coefficient of friction. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of a flexible superconducting magnetic levitation propulsion device for use in the lunar shadow region according to an embodiment of the present invention;

[0026] Figure 2 This is a schematic diagram of a stator segment in an embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of a multilayer circuit board in an embodiment of the present invention;

[0028] Figure 4 This is a schematic diagram of the longitudinal winding phase A coil and the longitudinal winding phase B coil in an embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of the transverse winding phase A coil and the transverse winding phase B coil in an embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram of the superconducting magnet module in an embodiment of the present invention;

[0031] Figure 7 This is a schematic diagram of the flexible mover in an embodiment of the present invention;

[0032] Figure 8 This is a schematic diagram of the bending working state of the propulsion device in an embodiment of the present invention.

[0033] The reference numerals in the attached drawings are as follows: flexible stator 1, stator segment 11, flexible mover 2, first mover segment 21, first flexible belt 22, second mover segment 23, second flexible belt 24, third mover segment 25, drive module 111, first superconducting magnet module 112, second superconducting magnet module 113, multilayer flexible circuit board 1111, first rigid circuit board 1112, second rigid circuit board 1113, snap-fit ​​plug 1114, electrical connector plug 1115, snap-fit ​​socket 11 16. Electrical connector socket; 1117. Drive circuit; 1118. Control circuit; 1119. First tunnel magnetoresistive sensor; 111-10. Second tunnel magnetoresistive sensor; 111-11. Third tunnel magnetoresistive sensor; 111-12. Fourth tunnel magnetoresistive sensor; 111-13. Fifth tunnel magnetoresistive sensor; 111-14. Sixth tunnel magnetoresistive sensor; 111-15. Seventh tunnel magnetoresistive sensor; 111-16. Eighth tunnel magnetoresistive sensor; 111-17. First... Al2O3 layer 11111, First capping layer 11112, First copper foil layer 11113, First substrate 11114, Second copper foil layer 11115, Second capping layer 11116, Third copper foil layer 11117, Second substrate 11118, Fourth copper foil layer 11119, Third capping layer 111110, Second Al2O3 layer 111111, Longitudinal winding A-phase coil 111131, Longitudinal winding B-phase coil 111151, Transverse winding A-phase coil 111171, Transverse winding B-phase coil 111191, Third Al2O3 layer 1121, First high-temperature superconducting tape 1122, Second high-temperature superconducting tape 1123, Third high-temperature superconducting tape 1124, Fourth high-temperature superconducting tape 1125, Fourth Al2O3 layer 1126, permanent magnet array module 211, first single-peak permanent magnet module 212, second single-peak permanent magnet module 213, rigid substrate 214, first permanent magnet 2111, first magnetic yoke 2121, second permanent magnet 2122, second magnetic yoke 2123, third permanent magnet 2124, third magnetic yoke 2125. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and are not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of the invention described below can be combined with each other as long as they do not conflict with each other. To make the objectives, technical solutions, and advantages of the embodiments of this invention clearer, the technical solutions in the embodiments of this invention will be clearly and completely described below with reference to the embodiments of this invention. Obviously, the described embodiments are only some embodiments of this invention, not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0035] like Figure 1 , Figure 8 As shown, this embodiment provides a flexible superconducting magnetic levitation propulsion device for use in lunar shadow regions, comprising a flexible stator 1 and a flexible mover 2. The flexible stator 1 is composed of several stator segments 11 connected together, as shown... Figure 7 As shown, the flexible mover 2 comprises a first mover segment 21, a second mover segment 23, and a third mover segment 25, connected by a first flexible strip 22 and a second flexible strip 24. The flexible mover 2 is suspended above the flexible stator 1 by the magnetic repulsion between the superconducting magnet module and the single-peak permanent magnet module. The flexible mover 2 is driven to move longitudinally (x-axis) and laterally (y-axis) by the electromagnetic force between the drive module 111 and the permanent magnet array module 211. The flexible stator 1 can conform to the rugged and soft lunar surface, and the flexible mover 2 can passively bend under gravity to match the curvature of the flexible stator 1. The single-peak permanent magnet module includes a first single-peak permanent magnet module 212 and a second single-peak permanent magnet module 213.

[0036] In this embodiment, the flexible stator 1 is composed of several stator segments 11 connected together. Each stator segment 11 includes a drive module 111, a first superconducting magnet module 112, and a second superconducting magnet module 113. The first superconducting magnet module 112 and the second superconducting magnet module 113 are fixedly connected to the drive module 111, and all three can be bent. When the stator segment 11 is laid, it can conform to the rugged lunar surface under its own weight.

[0037] like Figure 2As shown, the drive module 111 includes a multilayer flexible circuit board 1111, a first rigid circuit board 1112, a second rigid circuit board 1113, a snap-fit ​​plug 1114, an electrical connector plug 1115, a snap-fit ​​socket 1116, an electrical connector socket 1117, a drive circuit 1118, a control circuit 1119, and a first tunnel magnetoresistive sensor 111-10, a second tunnel magnetoresistive sensor 111-11, a third tunnel magnetoresistive sensor 111-12, a fourth tunnel magnetoresistive sensor 111-13, a fifth tunnel magnetoresistive sensor 111-14, a sixth tunnel magnetoresistive sensor 111-15, a seventh tunnel magnetoresistive sensor 111-16, and an eighth tunnel magnetoresistive sensor 111-17. The magnetic field data sensed by the tunnel magnetoresistive sensors is transmitted to the control circuit 1119. After processing and calculation, the control circuit 1119 outputs a control signal, which powers the multilayer flexible circuit board 1111 through the drive circuit 1118, thereby controlling the flexible actuator 2. The snap-fit ​​plugs 1114 and snap-fit ​​sockets 1116 of different stator segments are interconnected to ensure a secure mechanical connection between the stator segments. The electrical connector sockets 1117 and electrical connector plugs 1115 of different stator segments are interconnected to ensure reliable transmission of power and signal electricity. The multilayer flexible circuit board 1111, rigid circuit board 1112, and rigid circuit board 1113 are manufactured as a single unit. The snap-fit ​​plugs 1114 and electrical connector plugs 1115 are mounted on the rigid circuit board 1112, and the snap-fit ​​sockets 1116 and electrical connector sockets 1117 are mounted on the rigid circuit board 1113. The drive circuit 1118 and control circuit 1119 are mounted on the rigid circuit board 1112. The tunnel magnetoresistive sensor is mounted on the multilayer flexible circuit board 1111.

[0038] like Figure 3 , Figure 4 , Figure 5As shown, the multilayer flexible circuit board 1111, from top to bottom, consists of the first Al2O3 layer 11111, the first cover layer 11112, the first copper foil layer 11113, the first substrate 11114, the second copper foil layer 11115, the second cover layer 11116, the third copper foil layer 11117, the second substrate 11118, the fourth copper foil layer 11119, the third cover layer 111110, and the second... The Al2O3 layers are layered sequentially. The first copper foil layer 11113 contains a longitudinal winding A-phase coil 111131; the second copper foil layer 11115 contains a longitudinal winding B-phase coil 111151; the third copper foil layer 11117 contains a transverse winding A-phase coil 111171; and the fourth copper foil layer 11119 contains a transverse winding B-phase coil 111191. Applying an alternating current with a 90° phase difference to the longitudinal winding A-phase coil 111131 and the longitudinal winding B-phase coil 111151 allows the flexible mover 2 to move longitudinally. Applying an alternating current with a 90° phase difference to the transverse winding A-phase coil 111171 and the transverse winding B-phase coil 111191 allows the flexible mover 2 to move smoothly laterally. The Al2O3 layers enhance wear resistance and reduce the coefficient of friction.

[0039] like Figure 6 As shown, the first superconducting magnet module 112 includes a third Al2O3 layer 1121, a first high-temperature superconducting tape 1122, a second high-temperature superconducting tape 1123, a third high-temperature superconducting tape 1124, a fourth high-temperature superconducting tape 1125, and a fourth Al2O3 layer 1126, with each layer sequentially bonded together. The high-temperature superconducting tape is a thin plate with a certain width, and the Al2O3 layer enhances wear resistance and reduces the coefficient of friction. In the low-temperature environment of the lunar shadow region, the first superconducting magnet module 112, composed of stacked high-temperature superconducting tapes, can capture a large amount of magnetic flux under pulsed magnetization, generating a stable magnetic field that does not decay over time. The polarity of this magnetic field is opposite to that of the permanent magnet, thus generating a levitation force. The second superconducting magnet module 113 has the same structure and working principle as the first superconducting magnet module 112.

[0040] like Figure 7As shown, the flexible mover 2 is composed of a first mover segment 21, a first flexible strip 22, a second mover segment 23, a second flexible strip 24, and a third mover segment 25 connected sequentially. The mover segments are rigid, while the flexible strips are bendable. The flexible mover 2 can be passively bent under gravity by relying on the first flexible strip 22 and the second flexible strip 24. Each of the first mover segment 21, the second mover segment 23, and the third mover segment 25 includes a permanent magnet array module 211, a first single-peak permanent magnet module 212, a second single-peak permanent magnet module 213, and a rigid substrate 214. The permanent magnet array module 211, the first single-peak permanent magnet module 212, and the second single-peak permanent magnet module 213 are vertically fixed to the rigid substrate 214, and the rigid substrate 214 is vertically (x) fixed to the first flexible strip 22. Other structures of the flexible mover 2 are connected in the same manner. The permanent magnet array module 211 consists of a first permanent magnet 2111 arranged in sequence with opposite magnetic field polarities. The first single-peak permanent magnet module 212 consists of a first magnet yoke 2121, a second permanent magnet 2122, a second magnet yoke 2123, a third permanent magnet 2124, and a third magnet yoke 2125. The single-peak permanent magnet module relies on the permanent magnet to generate a single-peak stable magnetic field, the polarity of which is opposite to the magnetic field of the superconducting magnet module below it. The two interact to generate a repulsive force, which in turn generates a levitation force.

[0041] The specific working principle of this embodiment is as follows: The superconducting magnet module is established in a superconducting state using the low-temperature environment of the lunar shadow region. Pulsed magnetization is used to excite the superconducting magnet module, causing it to capture magnetic flux and form a stable magnetic field that does not decay over time. A single-peak permanent magnet module is arranged above the superconducting magnet module, with its magnetic field polarity opposite to that of the superconducting magnet module. Thus, the repulsive force between the magnetic fields suspends the flexible mover 2 above the flexible stator 1. The stator segments of the flexible stator 1 are interconnected and locked by snap-fit ​​sockets and snap-fit ​​plugs to form a robust mechanical connection. Reliable power and signal transmission is established by interconnecting and locking electrical connector sockets and electrical connector plugs.

[0042] Multiple tunnel magnetoresistive sensors jointly sense the magnetic field information of the flexible mover 2 and transmit it to the control circuit 1119 for processing and calculation. The control drive circuit 1118 applies appropriate current to the longitudinal winding A-phase coil 111131 and the longitudinal winding B-phase coil 111151. The flexible mover 2 moves longitudinally (x) through the coupling effect of the coil magnetic field and the magnetic field of the permanent magnet array module. The control drive circuit 1118 applies appropriate current to the transverse winding A-phase coil 111171 and the transverse winding B-phase coil 111191. The flexible mover 2 moves laterally (y) through the coupling effect of the coil magnetic field and the magnetic field of the permanent magnet array module. Since the levitation force generated by the superconducting magnet module is not stable in the transverse direction, the current control of the transverse winding A-phase coil 111171 and the transverse winding B-phase coil can also help to achieve stable superconducting magnetic levitation. The flexible stator 1 features a multi-layer flexible circuit board 1111 and two superconducting magnet modules 112 and 113, all of which are bendable. Therefore, the flexible stator 1 can be laid in close contact with the rugged and soft lunar surface. The flexible mover 2's segments are connected by a first flexible strip 22 and a second flexible strip 24. Thus, the flexible mover 2 can be passively bent under gravity, achieving a match with the curvature of the flexible stator 1. The flexible mover 2 and flexible stator 1 have no contact or friction, while the flexible stator 1 is in static contact with the lunar surface. Therefore, the propulsion device avoids energy loss caused by the compression and extrusion of lunar regolith by the traveling mechanism, improving propulsion efficiency. Simultaneously, it avoids wear and jamming of the moving parts caused by lunar regolith, extending its service life.

[0043] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A flexible superconducting magnetic levitation propulsion device for use in the lunar shadow region, characterized in that, The system includes a flexible stator and a flexible mover, both of which are bendable. The flexible stator comprises several stator segments, which are connected by electrical connectors for signal and power transmission and by snap-fit ​​mechanisms for a secure mechanical connection. The drive module is located in the center of each stator segment, with superconducting magnet modules on either side, all three being laterally fixed together. The flexible stator is laid out to fit the rugged, soft lunar surface. The flexible mover comprises several mover segments, with a permanent magnet array module in the center and single-peak permanent magnet modules on either side. The flexible mover is suspended above the flexible stator by the magnetic repulsion between the bendable superconducting magnet modules and the single-peak permanent magnet modules. Several tunnel magnetoresistive sensors are installed on both sides of the drive module to sense the position information of the flexible mover. By controlling the energizing current of the lateral winding of the drive module, the interaction between the magnetic field of the lateral winding coil and the magnetic field of the permanent magnet array module, combined with the position information of the flexible mover, controls the lateral movement of the flexible mover, thereby achieving stable magnetic levitation of the flexible mover. By controlling the energizing current of the longitudinal winding of the drive module, the interaction between the magnetic field of the longitudinal winding coil and the magnetic field of the permanent magnet array module, combined with the position information of the flexible mover, drives the flexible mover to move longitudinally, thereby achieving the propulsion function.

2. The flexible superconducting magnetic levitation propulsion device for lunar shadow regions according to claim 1, characterized in that, The segments of the flexible mover are connected by a flexible strip.

3. A flexible superconducting magnetic levitation propulsion device for lunar shadow regions according to claim 1, characterized in that, The magnetic field data sensed by the tunnel magnetoresistive sensor is transmitted to the control circuit. After processing and calculation, the control circuit outputs a control signal, which powers the multi-layer flexible circuit board through the drive circuit, thereby controlling the flexible mover. The snap-fit ​​plugs and snap-fit ​​sockets of different stator sections are interconnected to ensure a firm mechanical connection between the stator sections.

4. A flexible superconducting magnetic levitation propulsion device for lunar shadow regions according to claim 1, characterized in that, The drive module includes a rigid circuit board, a drive circuit, a control circuit, an electrical connector plug, a snap plug, an electrical connector socket, a snap socket, a multi-layer flexible circuit board, and a tunnel magnetoresistive sensor. The multi-layer flexible circuit board, the rigid circuit board, and the rigid circuit board are manufactured as a single unit. The snap plug and the electrical connector plug are mounted on the rigid circuit board, and the snap socket and the electrical connector socket are mounted on the rigid circuit board. The drive circuit and the control circuit are mounted on the rigid circuit board. The tunnel magnetoresistive sensor is mounted on the multi-layer flexible circuit board.

5. A flexible superconducting magnetic levitation propulsion device for lunar shadow regions according to claim 4, characterized in that, The multilayer flexible circuit board consists of, from top to bottom, the first Al2O3 layer, the first cover layer, the first copper foil layer, the first substrate, the second copper foil layer, the second cover layer, the third copper foil layer, the second substrate, the fourth copper foil layer, the third cover layer, and the second Al2O3 layer, with each layer bonded together in sequence.

6. A flexible superconducting magnetic levitation propulsion device for lunar shadow regions according to claim 5, characterized in that, The first copper foil layer contains a longitudinal winding A-phase coil, the second copper foil layer contains a longitudinal winding B-phase coil, the third copper foil layer contains a transverse winding A-phase coil, and the fourth copper foil layer contains a transverse winding B-phase coil.

7. A flexible superconducting magnetic levitation propulsion device for lunar shadow regions according to claim 6, characterized in that, An alternating current with a 90° phase difference is applied to the longitudinal winding A-phase coil and the longitudinal winding B-phase coil to make the flexible mover move longitudinally. An alternating current with a 90° phase difference is applied to the transverse winding A-phase coil and the transverse winding B-phase coil to make the flexible mover move smoothly transversely. The Al2O3 layer plays a role in enhancing wear resistance and reducing the coefficient of friction.

8. A flexible superconducting magnetic levitation propulsion device for lunar shadow regions according to claim 1, characterized in that, The superconducting magnet module includes a third Al2O3 layer, a first high-temperature superconducting tape, a second high-temperature superconducting tape, a third high-temperature superconducting tape, a fourth high-temperature superconducting tape, and a fourth Al2O3 layer, with each layer bonded together sequentially.

9. A flexible superconducting magnetic levitation propulsion device for lunar shadow regions according to claim 1, characterized in that, The permanent magnet array module includes permanent magnets.

10. A flexible superconducting magnetic levitation propulsion device for lunar shadow regions according to claim 1, characterized in that, The single-peak permanent magnet module includes a permanent magnet and a magnetic yoke.

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