Permanent magnet vernier motor for multi-magnetic-field harmonic operation

Abstract

The invention discloses a multi-magnetic field harmonic working permanent magnet vernier motor, belongs to the field of harmonic utilization or magnetic field modulation motors, and aims to solve the problems of insufficient utilization of a harmonic magnetic field and limited torque output capability of a permanent magnet vernier motor. The motor comprises an outer stator unit and an inner rotor unit which are coaxial, and a part clamped by the outer stator unit and the inner rotor unit is an air gap unit; the stator comprises a stator iron core, stator teeth of the stator iron core comprise axially symmetric stator yokes, stator main teeth, auxiliary teeth for editing magnetic conductance and stator split teeth, the stator main teeth and the two stator split teeth form a V-shaped structure facing an air gap unit, and the auxiliary teeth for editing magnetic conductance are arranged in the V-shaped structure. The air gap unit forms a magnetic conductance modulation structure through the interaction of the outer circle of the permanent magnet and the stator core, and air gap magnetic conductance used for modulating an armature magnetic field and a permanent magnet magnetic field is formed in an air gap. The auxiliary teeth for editing the magnetic conductance are used for adjusting the harmonic magnetic conductance component of the air gap magnetic conductance, and the output torque of the motor is improved by improving the magnetic conductance lower limit value at the symmetry axis of the stator teeth.

Description

Technical Field

[0001] The present invention relates to a body structure of a three - phase permanent - magnet vernier motor, belonging to the field of harmonic utilization or magnetic - field modulation motors. Background Technique

[0002] Permanent - magnet vernier motors have broad application prospects in fields such as electric vehicles and industrial servo systems due to their high torque density, high efficiency, and low torque ripple. Compared with the operating mode of permanent - magnet synchronous motors that generate average torque from a single magnetic field, permanent - magnet vernier motors generate torque by directionally designing the motor topology structure and editing and planning multiple harmonic working magnetic fields. At the same time, permanent - magnet vernier motors convert high - frequency magnetic - field harmonics into effective torque components through the magnetic - field modulation effects of stator slots, air gaps, and rotor permanent magnets, further reducing the cogging torque and torque ripple of the motor. However, at present, the utilization of harmonic magnetic fields in permanent - magnet vernier motors is not sufficient, and there is still great room for improvement in the deployment and directional editing of harmonic magnetic fields.

[0003] Magnetic permeance, as a key physical parameter of magnetic - field modulation motors, is the core of editing armature magnetic fields and permanent - magnet magnetic fields. Directional design of magnetic permeance is an effective means for editing multiple harmonic working magnetic fields of motors, which can make multiple magnetic - field harmonics co - excite in the same direction, achieving the effect of increasing output torque and torque density. Summary of the Invention

[0004] In order to solve the problems of insufficient utilization of harmonic magnetic fields and limited torque output ability in current permanent - magnet vernier motors, the present invention provides a permanent - magnet vernier motor with multiple harmonic working magnetic fields.

[0005] The permanent - magnet vernier motor with multiple harmonic working magnetic fields according to the present invention, comprises a coaxial outer - stator unit and an inner - rotor unit. The part sandwiched between the outer - stator unit and the inner - rotor unit is an air - gap unit 6, and the air - gap unit 6 changes periodically; The rotor unit includes a rotor core 4, a shaft 5, and radially surface - mounted Halbach permanent magnets 3; The stator includes a stator core 1, stator teeth, and an armature winding. The stator teeth are formed on the inner edge of the stator core 1, stator slots 2 are formed between adjacent stator teeth, and the armature winding is embedded in the stator slots 2; The stator teeth include an axially symmetric stator yoke 1-1, stator main teeth 1-2, auxiliary teeth 1-3 for editing permeance, and stator split teeth 1-4. Among them, the stator main teeth 1-2 extend radially, and the armature winding is wound around the stator main teeth 1-2; two sections of the stator split teeth 1-4 are respectively connected to both sides of the end of the stator main teeth 1-2 facing the air-gap unit 6, so that the stator main teeth 1-2 and the two sections of stator split teeth 1-4 together form a V-shaped structure facing the air-gap unit 6; the auxiliary teeth 1-3 for editing permeance are arranged inside the V-shaped structure and are connected to the end of the stator main teeth 1-2; the two sections of stator split teeth 1-4 form a magnetic flux shunt path. The air-gap unit 6 forms a permeance modulation structure with a specific spatial harmonic distribution through the interaction between the outer circle of the permanent magnet 3 and the stator core 1. This permeance modulation structure is used to modulate the air-gap permeance of the armature magnetic field and the permanent-magnet magnetic field. The auxiliary teeth 1-3 for editing permeance are used to increase the lower limit value of the permeance at the axis of symmetry of the stator teeth, and improve the motor output torque by optimizing the harmonic permeance components of the air-gap permeance.

[0006] Preferably, the inner circumferential surface of the stator yoke 1-1 of the stator core 1 is evenly distributed circumferentially N s stator main teeth 1-2, and each stator main tooth 1-2 and two stator split teeth 1-4 form a V-shaped structure opening towards the air-gap side. The stator main teeth 1-2, the auxiliary teeth 1-3 for editing permeance, and the stator split teeth 1-4 are symmetric about the same axis of symmetry; the inner tip of the V-shaped structure is provided with the auxiliary teeth 1-3 for editing permeance along the radial direction, and the axes of symmetry of the stator main teeth 1-2 and the auxiliary teeth 1-3 for editing permeance coincide. The auxiliary teeth 1-3 for editing permeance are shorter than the stator split teeth 1-4, forming a notch on the air-gap side. A symmetric bow-shaped polygon is formed by the auxiliary teeth 1-3 for editing permeance and the two stator split teeth 1-4 at this notch.

[0007] Preferably, the air-gap unit 6 is composed of three parts of air-gap segments that change periodically, namely, the air-gap segment 6-1 at the stator slot opening, the bow-shaped polygon air-gap segment (6-2) at the stator tooth notch, and the uniform circular-ring physical air-gap segment 6-3 between the stator core 1 and the permanent magnet 3. The air-gap unit 6 changes periodically.

[0008] Preferably, the air-gap permeance of the motor satisfies the following formula:

[0009] In the formula, N s is the number of motor slots, θ m is the motor position angle, Λ1, Λ2, Λ3 and θ 1, θ 2, θare the amplitudes and phases of the 1st, 2nd, and 3rd order permeance components respectively; Λ0 is the average permeance, are the 1st, 2nd, and 3rd order harmonic permeances respectively; The circular physical air-gap section 6-3 between the stator and the rotor is used to generate the average permeance; The air-gap section 6-1 at the stator slot opening and the bow-shaped polygon air-gap section (6-2) at the stator tooth notch are used to edit the harmonic permeance that is a multiple of the number of motor slots.

[0010] Preferably, the shape of the bow-shaped polygon air-gap section (6-2) at the stator tooth notch is adjusted by the auxiliary tooth 1-3 for editing permeance, the air-gap permeance near the symmetry axis of the stator tooth is increased, and the proportion of different order harmonic permeances is adjusted to improve the motor output torque; Preferably, the air-gap harmonic permeance constructed by the shape of the air-gap section adjusted by the auxiliary tooth 1-3 for editing permeance should ensure that the phase of the harmonic permeance θ 1, θ 2, θ 3 does not reverse.

[0011] Preferably, both the auxiliary tooth 1-3 for editing permeance and the split tooth 1-4 of the stator adopt a parallel tooth structure, and the widths of all parts of the parallel teeth are equal.

[0012] Preferably, the tooth width of the split tooth 1-4 of the stator is greater than that of the auxiliary tooth 1-3 for editing permeance; the tooth width of the split tooth 1-4 of the stator is greater than half of the tooth width of the main tooth 1-2 of the stator.

[0013] Preferably, the armature winding adopts a fractional-slot concentrated double-layer winding.

[0014] Preferably, the magnetization directions of the magnetic poles of the permanent magnet 3 are in clockwise order: magnetized radially outward, tangentially counterclockwise, radially inward, and tangentially clockwise.

[0015] Advantages of the present invention: The present invention proposes an orientation design of a permanent magnet vernier motor for multi-magnetic field harmonic operation. This design adopts an innovative combination structure of main teeth, auxiliary teeth, and split teeth to construct a specific air-gap permeance configuration. This configuration can: 1. Achieve co-excitation of magnetic field harmonics in the same direction, synergistically utilize multiple harmonic working magnetic fields, and significantly improve the torque density of the motor.

[0016] 2. Through the magnetic field modulation effect, effectively suppress the spatial harmonics caused by the tooth-slot effect and the pole distribution in traditional permanent magnet motors, thereby significantly reducing the cogging torque and torque ripple. Description of the Drawings

[0017] Figure 1 is a schematic structural diagram of a permanent magnet vernier motor for multi-magnetic field harmonic operation of the present invention; Figure 2Schematic diagram of the stator core structure of the present invention; Figure 3 Schematic diagram of the air gap structure for magnetic field modulation of the present invention; Figure 4 Air gap permeance waveform diagram of the motor of the present invention; Figure 5 Fourier analysis diagram of the air gap permeance of the motor of the present invention; In the figure: 1. Stator core, 2. Stator slot, 3. Permanent magnet, 4. Rotor core, 5. Shaft, 6. Air gap unit.

[0018] 1-1. Stator yoke, 1-2. Stator main tooth, 1-3. Auxiliary tooth for editing permeance, 1-4. Stator split tooth.

[0019] 6-1. Air gap section at the slot opening, 6-2. Bow-shaped polygon air gap section at the notch of the stator tooth, 6-3. Circular physical air gap section. Detailed implementation manners

[0020] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.

[0021] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0022] Next, the present invention will be further described in conjunction with the accompanying drawings and specific embodiments, but it is not a limitation of the present invention.

[0023] Detailed implementation manner one: Next, in conjunction with Figures 1 to 5 This implementation manner will be described. The permanent magnet vernier motor with multi-magnetic field harmonics operation described in this implementation manner is radially divided into a stator unit, a rotor unit, and an air gap unit 6 sandwiched between the stator and the rotor. The air gap unit 6 changes periodically. This implementation manner will be specifically described by taking a three-phase permanent magnet vernier motor as an example.

[0024] The rotor unit includes a rotor core 4, a shaft 5, and a radially surface-mounted Halbach permanent magnet 3; the magnetic pole magnetization directions of the permanent magnet 3 are in clockwise order: magnetized radially outward, tangentially counterclockwise, radially inward, and tangentially clockwise.

[0025] The stator includes a stator core 1, stator teeth, and an armature winding. The space sandwiched between adjacent stator teeth forms a stator slot 2 in the stator core 1, and the armature winding is arranged in the stator slot 2; the armature winding adopts a fractional-slot concentrated double-layer winding.

[0026] The inner circumferential surface of the stator yoke 1-1 of the stator core 1 is evenly distributed circumferentially N s stator main teeth 1-2, and each stator main tooth 1-2 and two stator split teeth 1-4 form a V-shaped structure opening towards the air gap side. The stator main teeth 1-2, the auxiliary teeth 1-3 for editing magnetic conductance, and the stator split teeth 1-4 are symmetric about the same axis of symmetry; the internal tip of the V-shaped structure is provided with the auxiliary teeth 1-3 for editing magnetic conductance along the radial direction, and the axes of symmetry of the stator main teeth 1-2 and the auxiliary teeth 1-3 for editing magnetic conductance coincide. The auxiliary teeth 1-3 for editing magnetic conductance are shorter than the stator split teeth 1-4, forming a notch on the air gap side. A symmetric bow-shaped polygon is formed by the auxiliary teeth 1-3 for editing magnetic conductance and the two stator split teeth 1-4 at this notch. The stator main teeth 1-2 are used for winding the armature winding, and a magnetic flux shunt path is formed through the two stator split teeth 1-4; The air gap unit 6 forms a magnetic conductance modulation structure through the interaction between the outer circumference of the permanent magnet 3 and the stator core 1, and forms an air gap magnetic conductance in the air gap for modulating the armature magnetic field and the permanent magnet magnetic field; The auxiliary teeth 1-3 for editing magnetic conductance are used to increase the lower limit of the magnetic conductance at the axis of symmetry of the stator teeth, and improve the motor output torque by optimizing the harmonic magnetic conductance components of the air gap magnetic conductance.

[0027] The air gap unit 6 is composed of three parts of air gap segments that change periodically, namely the air gap segment 6-1 at the stator slot opening, the bow-shaped polygon air gap segment (6-2) at the stator tooth notch, and the uniform annular physical air gap segment 6-3 between the stator core 1 and the permanent magnet 3. The air gap unit 6 changes periodically.

[0028] The air gap magnetic conductance of the motor is

[0029] In the formula, N s is the number of slots of the motor, θ m is the motor position angle, Λ1, Λ2, Λ3 and θ 1, θ 2, θ 3 are the amplitudes and phases of the 1st, 2nd, and 3rd order magnetic conductance components respectively; Λ0 is the average magnetic conductance, are the 1st, 2nd, and 3rd order harmonic magnetic conductances respectively; The annular physical air gap segment 6-3 between the stator and the rotor is used to generate the average magnetic conductance; The air gap segment 6-1 at the stator slot opening and the bow-shaped polygon air gap segment (6-2) at the stator tooth notch are used to edit the harmonic magnetic conductance that is a multiple of the number of motor slots.

[0030] Adjust the shape of the bow-shaped polygon air-gap segment (6-2) at the stator tooth notch by editing the auxiliary teeth 1-3 for magnetic conductance, increase the air-gap magnetic conductance near the symmetry axis of the stator teeth, and adjust the proportion of harmonic magnetic conductance of different orders to improve the motor output torque. See Figure 4 , the red part, which is the magnetic conductance curve near the symmetry axis of the stator. Without the auxiliary teeth 1-3 for magnetic conductance editing, the curve here should be a smooth transition (as shown by the dotted line in the figure). In this embodiment, the auxiliary teeth 1-3 for magnetic conductance editing are added (see Figure 3 ), which makes the air-gap magnetic conductance here increase upward, raises the lower limit value of the magnetic conductance, and optimizes the torque output proportion of different harmonic magnetic fields through the magnetic field modulation effect to improve the motor output torque.

[0031] The air-gap harmonic magnetic conductance constructed by the shape of the air-gap segment adjusted by the auxiliary teeth 1-3 for magnetic conductance editing should ensure that the phase of the harmonic magnetic conductance θ 1, θ 2, θ 3 does not reverse. Specifically, it is limited that: both the auxiliary teeth 1-3 for magnetic conductance editing and the split stator teeth 1-4 adopt a parallel tooth structure, and the widths of each part of the parallel teeth are equal. The tooth width of the split stator teeth 1-4 is greater than that of the auxiliary teeth 1-3 for magnetic conductance editing; the tooth width of the split stator teeth 1-4 is greater than half of the tooth width of the main stator teeth 1-2.

[0032] To ensure that the tooth widths on the auxiliary teeth 1-3 for magnetic conductance editing are approximately the same and there is no obvious saturation, the structural parameters of the auxiliary teeth 1-3 for magnetic conductance editing at the stator tooth notch are restricted. The length of the auxiliary teeth 1-3 for magnetic conductance editing should be less than 0.8 times the distance from the root of the auxiliary teeth 1-3 for magnetic conductance editing to the surface of the rotor unit, and the width of the auxiliary teeth 1-3 for magnetic conductance editing should be less than 0.5 times the width of the split stator teeth 1-4.

[0033] To suppress the leakage magnetic flux, the air-gap segment 6-1 at the slot opening and the bow-shaped polygon air-gap segment (6-2) at the stator tooth notch need to maintain a certain width along the circumferential direction.

[0034] Rotor magnetic field: The surface-mounted Halbach permanent magnet in the radial direction generates the fundamental wave and harmonics of the permanent magnet magnetic motive force. The fundamental wave component of the permanent magnet magnetic motive force is the main component, and the permanent magnet magnetic motive force f pm satisfies the following formula:

[0035] where ω is the angular frequency of motor rotation, p is the number of pole pairs of the motor, j is the permanent magnet order, F pmj and θ j are respectively j the amplitude and phase of the permanent magnet magnetic motive force component of thet is the time.

[0036] The periodically varying air-gap permeance modulates the permanent-magnet magnetomotive force. The permanent-magnet magnetic field after permeance modulation b pm includes the permanent-magnet magnetic field components of the sum modulation component, the difference modulation component, and the average permeance effect, as shown in the following formula.

[0037]

[0038] where b pm0 , b pm+ and b pm- are the permanent-magnet magnetic field component of the average permeance effect, the sum modulation component, and the difference modulation component, respectively.

[0039] The armature magnetomotive force f a Multiple harmonic components of can act on the output torque and satisfy the following formula:

[0040] where F ak and θ k are respectively k the amplitude and phase of the -th order armature magnetomotive force component.

[0041] It can be seen that the magnetomotive force generated by the armature current includes multiple space harmonics; this armature magnetomotive force is also modulated by the air-gap permeance. The armature magnetic field after permeance modulation b a includes the sum modulation component, the difference modulation component, and the armature magnetic field component of the average permeance effect, as shown in the following formula.

[0042]

[0043] where b a0 , b a+ and b a- are the armature magnetic field component of the average permeance effect, the armature sum modulation component, and the armature difference modulation component, respectively.

[0044] After modulation, multiple harmonic components with the same number of pole pairs and rotational speed will be generated in the permanent-magnet magnetic field and the armature magnetic field. These paired magnetic field harmonics interact with each other and can be superposed in the same direction to generate an average electromagnetic torque. The design of the notch generated by the stator auxiliary teeth optimizes the permeance harmonics of specific orders (mainly The multiple sub-harmonics enable more effective modulation harmonics to participate in torque output, thereby improving torque density and stability. The rotational frequencies of multiple magnetic field harmonics in the armature magnetic field and the permanent magnet magnetic field are the same, and they can all output average torque, and satisfy the following formula:

[0045] The uniformly circular ring-shaped physical air gap section 6-3 sandwiched between the stator core 1 and the permanent magnet 3 mainly generates the main average magnetic conductance. The air gap section 6-1 at the notch of the stator slot 2 and the bow-shaped polygonal air gap section (6-2) at the notch of the stator tooth are used to edit the harmonic magnetic conductance that is a multiple of the number of motor slots. In this embodiment, the number of stator slots is 9, and the magnetic conductance form is shown in the following table. The specific magnetic conductance waveform and spectrum analysis results are as shown in Figure 4 and Figure 5 shown.

[0046] By carrying out directional design on the magnetic conductance and modulating the armature magnetomotive force based on the magnetic field modulation principle, an armature magnetic field in which multiple harmonic magnetic fields work together is formed. The corresponding relationship between the harmonic components of the armature magnetomotive force and the harmonic components of the magnetic conductance is shown in the following table.

[0047] Wherein F ai and θ i are respectively the i sub-harmonic amplitude and phase of the armature magnetomotive force, Λ k and θ 9k is the k harmonic or amplitude of the magnetic conductance of the order, and Λ0 specifically refers to the average magnetic conductance.

[0048] Although the present invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed, as long as they do not deviate from the spirit and scope of the present invention defined by the appended claims. It should be understood that the different dependent claims and the features described herein can be combined in a manner different from that described in the original claims. It should also be understood that the features described in connection with a single embodiment can be used in other described embodiments.

Claims

1. A permanent magnet vernier motor operating with multiple magnetic field harmonics, characterized in that, It includes a coaxial outer stator unit and an inner rotor unit. The part sandwiched between the outer stator unit and the inner rotor unit is an air-gap unit (6), and the air-gap unit (6) changes periodically. The rotor unit includes a rotor core (4), a shaft (5), and radially surface-mounted Halbach permanent magnets (3). The stator includes a stator core (1), stator teeth, and an armature winding. The stator teeth are formed on the inner edge of the stator core (1), and stator slots (2) are formed between adjacent stator teeth. The armature winding is embedded in the stator slots (2). The stator teeth include an axially symmetric stator yoke (1-1), stator main teeth (1-2), auxiliary teeth (1-3) for editing magnetic permeance, and stator split teeth (1-4). Among them, the stator main teeth (1-2) extend radially, and the armature winding is wound around the stator main teeth (1-2). Two sections of the stator split teeth (1-4) are respectively connected to both sides of the end of the stator main teeth (1-2) facing the air-gap unit (6), so that the stator main teeth (1-2) and the two sections of stator split teeth (1-4) together form a V-shaped structure facing the air-gap unit (6). The auxiliary teeth (1-3) for editing magnetic permeance are arranged inside the V-shaped structure and are connected to the end of the stator main teeth (1-2). The two sections of stator split teeth (1-4) form a magnetic flux shunt path. The air-gap unit (6) forms a magnetic permeance modulation structure with a specific spatial harmonic distribution through the interaction between the outer circumference of the permanent magnet (3) and the stator core (1). This magnetic permeance modulation structure is used to modulate the air-gap magnetic permeance of the armature magnetic field and the permanent-magnet magnetic field. The auxiliary teeth (1-3) for editing magnetic permeance are used to increase the lower limit value of the magnetic permeance at the axis of symmetry of the stator teeth, and improve the motor output torque by optimizing the harmonic magnetic permeance components of the air-gap magnetic permeance.

2. The permanent magnet vernier motor operating with multiple magnetic field harmonics according to claim 1, wherein The inner circumferential surface of the stator yoke (1-1) of the stator core (1) is evenly distributed circumferentially N s stator main teeth (1-2). Each stator main tooth (1-2) and two stator split teeth (1-4) form a V-shaped structure opening towards the air gap side. The stator main tooth (1-2), the auxiliary tooth (1-3) for editing magnetic conductance, and the stator split tooth (1-4) are symmetric about the same axis of symmetry; an auxiliary tooth (1-3) for editing magnetic conductance is arranged radially along the inner tip of the V-shaped structure. The axes of symmetry of the stator main tooth (1-2) and the auxiliary tooth (1-3) for editing magnetic conductance coincide. The auxiliary tooth (1-3) for editing magnetic conductance is shorter than the stator split tooth (1-4), forming a notch on the air gap side. A symmetric bow-shaped polygon is formed by the auxiliary tooth (1-3) for editing magnetic conductance and the two stator split teeth (1-4) at this notch.

3. The permanent magnet vernier motor operating with multiple magnetic field harmonics according to claim 2, characterized in that, The air-gap unit (6) is composed of three parts of air-gap segments that change periodically, namely, the air-gap segment (6-1) at the stator slot opening, the bow-shaped polygonal air-gap segment (6-2) at the stator tooth notch, and the uniform circular-ring physical air-gap segment (6-3) sandwiched between the stator core (1) and the permanent magnet (3). The air-gap unit (6) changes periodically.

4. The permanent magnet vernier motor operating with multiple magnetic field harmonics according to claim 3, wherein Air-gap permeance of the motor Satisfies the following equation: In the formula, N s is the number of slots of the motor, θ m is the position angle of the motor, and Λ1, Λ2, Λ3 and θ 1, θ 2, θ 3 are the amplitudes and phases of the fundamental, second, and third harmonic permeance components, respectively; Λ0 is the average magnetic conductance, which are the 1st, 2nd, and 3rd harmonic magnetic conductances respectively; The circular-ring physical air-gap segment (6-3) between the stator and the rotor is used to generate the average magnetic permeance. The air-gap segment (6-1) at the stator slot opening and the bow-shaped polygonal air-gap segment (6-2) at the stator tooth notch are used to edit the harmonic magnetic permeance that is a multiple of the number of motor slots.

5. The permanent magnet vernier motor operating with multiple magnetic field harmonics according to claim 4, wherein By adjusting the shape of the bow-shaped polygonal air-gap segment (6-2) at the stator tooth notch with the auxiliary teeth (1-3) for editing magnetic permeance, the air-gap magnetic permeance near the axis of symmetry of the stator teeth is increased, and the proportion of different-order harmonic magnetic permeances is adjusted to improve the motor output torque.

6. The permanent magnet vernier motor operating with multiple magnetic field harmonics according to claim 4 or 5, characterized in that, The air-gap harmonic permeance constructed by adjusting the shape of the air-gap section using the auxiliary teeth for permeance (1-3) should ensure that the phases of the harmonic permeances θ 1, θ 2, θ 3 do not undergo phase inversion.

7. The permanent magnet vernier motor operating with multiple magnetic field harmonics according to claim 3, wherein Both the auxiliary teeth (1-3) for editing magnetic permeance and the stator split teeth (1-4) adopt a parallel-tooth structure, and the widths of all parts of the parallel teeth are equal.

8. The permanent magnet vernier motor operating with multiple magnetic field harmonics according to claim 7, wherein, The tooth width of the stator split teeth (1-4) is greater than that of the auxiliary teeth (1-3) for editing magnetic permeance; the tooth width of the stator split teeth (1-4) is greater than half of the tooth width of the stator main teeth (1-2).

9. The permanent magnet vernier motor operating with multiple magnetic field harmonics according to claim 2, wherein, The armature winding adopts a fractional-slot concentrated double-layer winding.

10. The permanent magnet vernier motor operating with multiple magnetic field harmonics according to claim 1, characterized in that, The magnetization directions of the poles of the permanent magnet (3) are, in clockwise order: magnetized radially outward, magnetized tangentially counterclockwise, magnetized radially inward, and magnetized tangentially clockwise.

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