Moving coil type electromagnetic ejection device and control method

Abstract

The invention relates to the technical field of electromagnetic catapulting, in particular to a moving coil type electromagnetic catapulting device and a control method.The moving coil type electromagnetic catapulting device comprises a catapulting mounting base, a magnetic non-uniform stator assembly, a current collection rail, a power supply assembly and a linear motor mover assembly, and the magnetic non-uniform stator assembly and the current collection rail are both arranged on the catapulting mounting base in the first direction; the magnetic non-uniform stator assembly and the current collection rail are arranged at an interval, and the magnetic non-uniform stator assembly can generate a non-uniform magnetic field; the power supply assembly is electrically connected with the current collection rail and can supply power to the current collection rail. The linear motor rotor assembly is arranged on the current collection rail in a sliding mode, and the linear rotor assembly can conduct accelerated motion and decelerated motion along the current collection rail under the action of the non-uniform magnetic field. The thrust requirements of different speed sections can be matched without an external frequency converter, and the system complexity is reduced; and magnetic field distribution is matched with an ejection curve, so that thrust pulsation caused by a uniform stator in the prior art is avoided, and invalid energy consumption is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of electromagnetic catapults, and in particular to a moving coil electromagnetic catapult device and a control method thereof. Background Art

[0002] As electromagnetic catapult technology develops towards high efficiency, adaptability and lightweight, the limitations of traditional dynamic magnetic electromagnetic catapult systems (uniform permanent magnet stators) are becoming increasingly prominent: the fixed magnetic field distribution makes the acceleration curve inflexible and difficult to adapt to variable load requirements; frequency conversion control relies on power electronic equipment, and the system is complex and costly; energy utilization is low, especially in the non-uniform speed section where there are thrust fluctuations.

[0003] Traditional moving-coil electromagnetic catapult uniform stator systems use permanent magnet stators evenly distributed across the launch track. This traditional moving-coil electromagnetic catapult uniform stator distribution requires an external inverter to adjust the drive frequency to match the thrust requirements of different speed ranges, increasing system complexity. It also results in low energy utilization, significant thrust fluctuations, and limited dynamic response.

[0004] Therefore, it is necessary to provide a new moving coil electromagnetic catapult device to solve the above technical problems. Summary of the Invention

[0005] The main purpose of the present invention is to provide a moving coil electromagnetic catapult device and a control method, aiming to solve the problems of high system complexity and low energy utilization of existing moving coil electromagnetic catapult devices.

[0006] To achieve the above-mentioned purpose, the present invention proposes a moving coil electromagnetic ejection device, which includes an ejection mounting seat, a magnetic non-uniform stator assembly, a current receiving rail, a power supply assembly and a linear motor mover assembly. The magnetic non-uniform stator assembly and the current receiving rail are both arranged on the ejection mounting seat along a first direction, and the magnetic non-uniform stator assembly and the current receiving rail are spaced apart. The magnetic non-uniform stator assembly can generate a non-uniform magnetic field; the power supply assembly is electrically connected to the current receiving rail and can supply power to the current receiving rail; the linear motor mover assembly is slidably arranged on the current receiving rail, and under the action of the non-uniform magnetic field, the linear mover assembly can accelerate and decelerate along the current receiving rail.

[0007] Optionally, the magnetically non-uniform stator assembly includes an acceleration section and a deceleration section, the acceleration section includes a plurality of accelerating magnetic stators sequentially arranged along the first direction, and the distance between two adjacent accelerating magnetic stators is sequentially arranged with a slope k a The deceleration section includes a plurality of deceleration magnetic stators arranged in sequence along the first direction, and the spacing between two adjacent deceleration magnetic stators is at a slope k d Decreases linearly.

[0008] Optionally, the magnetic non-uniform stator assembly further includes a constant-speed section disposed between the acceleration section and the deceleration section. The constant-speed section includes a plurality of constant-speed magnetic stators arranged in sequence along the first direction, and the linear motor mover assembly can perform uniform motion under the action of the constant-speed magnetic stators.

[0009] Optionally, the distance between two adjacent constant-speed magnetic stators is a fixed value.

[0010] Optionally, the acceleration magnetic stator, the constant-speed magnetic stator, and the deceleration magnetic stator are all permanent-magnet stators.

[0011] Optionally, the linear motor mover assembly includes a linear motor mover coil and a current collector brush. The linear motor mover coil is disposed on the current collector brush; the current collector brush is slidably disposed on the current collection rail, and the linear motor mover coil is in sliding contact with the current collection rail through the current collector brush for power supply.

[0012] Optionally, the linear motor mover coil is an air-core coil or a non-air-core coil.

[0013] Optionally, the power supply assembly includes a three-phase power supply and three-phase power cables. The three-phase power supply is electrically connected to the current collection rail through the three-phase power cables.

[0014] Optionally, the moving-coil electromagnetic catapult device further includes a position detection module and a control module. The position detection module is disposed on the mounting base, and the position detection module can detect the position of the linear motor mover assembly in real time; the control module is electrically connected to the position detection module and the three-phase power supply respectively, and the control module can adjust the compensation current of the three-phase power supply according to the position of the linear motor mover assembly fed back by the position detection module.

[0015] In addition, the present invention also provides a control method for a moving-coil electromagnetic catapult device, which controls the moving-coil electromagnetic catapult device as described above to perform electromagnetic catapult operations, including:

[0016] S1: Establish a dynamic equation according to the catapult mission, calculate the lengths of the acceleration section and the deceleration section and the thrust required for each stage based on the dynamic equation, and design the arrangement pitch of the magnetic non-uniform stator assembly according to the calculation results, where: the catapult mission includes the catapult height, the catapult final velocity, the mass of the projectile + mover, and the acceleration;

[0017] Measure or simulate the magnetic field distribution of the permanent magnet array based on the designed arrangement pitch of the magnetic non-uniform stator assembly, and store it as a position-magnetic field query table;

[0018] S2: Turn on the three-phase power supply to supply power to the current collection rail, and the linear motor mover assembly moves along the current collection rail under the action of the non-uniform magnetic field;

[0019] S3: Obtain the real-time position x of the linear motor mover assembly through the position detection module;

[0020] S4: The control module obtains the magnetic field distribution corresponding to the real-time position according to the real-time position x and the position-magnetic field look-up table, and calculates the current required in real time;

[0021] S5: The control module updates the current command for the three-phase power supply in real time according to the calculated required current to ensure that the current adjustment is synchronized with the change of the magnetic field distribution.

[0022] In the technical solution of the present invention, when the linear motor mover assembly cuts the non-uniform magnetic field, the generated thrust is proportional to the magnetic field gradient. The non-uniform magnetic field generated by the magnetic non-uniform array assembly is used to realize the self-adjustment of the thrust, so that the linear motor mover assembly makes accelerating, uniform and decelerating movements along the current collection rail. The frequency of the induced electromotive force can automatically change with the speed and the magnetic field gradient, and the thrust requirements in different speed segments can be matched without an external frequency converter, reducing the system complexity; and the magnetic field distribution matches the ejection curve, avoiding the thrust pulsation caused by the uniform stator in the prior art and reducing the ineffective energy consumption. Description of the Drawings

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0024] Figure 1 It is a schematic structural diagram of the moving coil electromagnetic ejection device in the embodiment of the present invention.

[0025] Explanation of the reference numerals in the drawings:

[0026] 1 ejection mounting seat, 2 magnetic non-uniform stator assembly, 2.1 accelerating magnetic stator, 2.2 uniform-speed magnetic stator, 2.3 decelerating magnetic stator, 3 current collection rail, 4 power supply assembly, 4.1 three-phase power supply, 4.2 three-phase power cable, 5 linear motor mover assembly, 6 position detection module, 7 control module.

[0027] The realization, functional characteristics and advantages of the object of the present invention will be further described in conjunction with the embodiments with reference to the drawings. Detailed Embodiments

[0028] 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 belong to the scope of protection of the present invention.

[0029] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0030] In addition, in the present invention, descriptions such as "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0031] In the present invention, unless otherwise clearly defined and limited, terms such as "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and can be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0032] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0033] The present invention provides a moving coil electromagnetic catapult device, aiming to solve the problems of high system complexity and low energy utilization rate of the existing moving coil electromagnetic catapult device.

[0034] Such as Figure 1As shown in the figure, a moving coil electromagnetic catapult device includes an ejection mounting base 1, a magnetically non-uniform stator assembly 2, a current receiving rail 3, a power supply assembly 4, and a linear motor mover assembly 5. The magnetically non-uniform array assembly and the current receiving rail 3 are both arranged on the ejection mounting base 1 along the first direction, and the magnetically non-uniform array assembly is spaced from the current receiving rail 3. The magnetically non-uniform array assembly can generate a non-uniform magnetic field. The power supply assembly 4 is electrically connected to the current receiving rail 3 and can supply power to the current receiving rail 3. The linear motor mover assembly 5 is slidably arranged on the current receiving rail 3, and under the action of the non-uniform magnetic field, the linear mover assembly can perform accelerated motion, uniform motion, and decelerated motion along the current receiving rail 3. When the linear motor mover assembly 5 cuts the non-uniform magnetic field, the generated thrust is proportional to the magnetic field gradient. The self-adjustment of the thrust is realized through the non-uniform magnetic field generated by the magnetically non-uniform array assembly, so that the linear motor mover assembly 5 performs accelerated, uniform, and decelerated motions along the current receiving rail 3. The frequency of the induced electromotive force can automatically change with the speed and the magnetic field gradient, and there is no need for an external frequency converter to match the thrust requirements in different speed segments, which reduces the system complexity; and the magnetic field distribution matches the ejection curve, avoiding the thrust pulsation caused by the uniform stator in the prior art and reducing the ineffective energy consumption. In this embodiment, the adaptive thrust matching reduces the dependence on the external frequency converter, reduces the power electronic devices, and reduces the system fault points. The non-uniform arrangement can locally strengthen the magnetic field and reduce the risk of high-temperature demagnetization of the permanent magnet. The thermal distribution of the hollow mover + non-uniform magnetic field is more uniform, and the heat dissipation pressure is lower than that of the uniform stator.

[0035] The magnetically non-uniform array assembly includes an acceleration section, a uniform motion section, and a deceleration section. The acceleration section includes a plurality of acceleration magnetic stators 2.1 arranged in sequence along the first direction, and the distance between two adjacent acceleration magnetic stators 2.1 increases linearly at a slope k a ; the uniform motion section includes a plurality of uniform motion magnetic stators 2.2 arranged in sequence along the first direction, and the distance between two adjacent uniform motion magnetic stators 2.2 remains unchanged; the deceleration section includes a plurality of deceleration magnetic stators 2.3 arranged in sequence along the first direction, and the distance between two adjacent deceleration magnetic stators 2.2 decreases at a slope k dIt decreases linearly. In this embodiment, the distance between the accelerating magnetic stators 2.1 is small, the magnetic field frequency naturally increases, so the Lorentz force is enhanced to achieve high-thrust acceleration. In the acceleration section, the air-gap magnetic field is enhanced by arranging permanent magnets densely to increase the Lorentz force. The initial distance is the smallest and increases linearly with the position to match the decreasing acceleration requirement; the distance between the constant-speed magnetic stators 2.2 remains unchanged to maintain stable thrust, and the thrust F balances the resistance (such as air friction, mechanical loss, etc.); the distance between the decelerating magnetic stators 2.3 decreases rapidly, the reverse induced current is enhanced, and the braking effect is improved. By rapidly reducing the distance, the reverse induced electromotive force is increased to enhance the regenerative braking; in addition, the magnetic non-uniform array component breaks the periodicity of the magnetic field, avoids the thrust pulsation caused by traditional uniform stators, and solves the problem that the acceleration curve is not flexible enough due to the fixed magnetic field distribution and it is difficult to adapt to variable load requirements.

[0036] In this embodiment, the proportions of the acceleration section, the constant-speed section, and the deceleration section are 50%, 30%, and 20% respectively. It should be noted that the acceleration section, the constant-speed section, and the deceleration section can be flexibly adjusted according to actual operation requirements. In other special cases, only the acceleration section and the deceleration section need to be set.

[0037] The accelerating magnetic stator 2.1, the constant-speed magnetic stator 2.2, and the decelerating magnetic stator 2.3 are all permanent-magnet stators. Using permanent-magnet stators can effectively ensure the stability of the magnetic field, and thus ensure the smooth operation of the linear motor mover assembly 5.

[0038] The linear motor mover assembly 5 includes a linear motor mover coil and a current collector brush. The linear motor mover coil is arranged on the current collector brush; the current collector brush is slidably arranged on the current collection rail 3, and the linear motor mover coil is slidably contacted and powered by the current collector brush with the current collection rail 3. The linear motor mover coil conducts electricity through the current collector brush with the current collection rail 3, so as to realize the movement along the current collection rail 3 by the thrust generated by the induction with the non-uniform magnetic field.

[0039] The linear motor mover coil is an air-core coil or a non-air-core coil. In actual operation, the coil type can be selected according to project requirements. The lightweight mover design using an air-core coil reduces the mover mass by 30% - 50%, reduces inertia, has a faster acceleration response, and eliminates iron loss.

[0040] The power supply assembly 4 includes a three-phase power supply 4.1 and three-phase power cables 4.2. The three-phase power supply 4.1 is electrically connected to the current collection rail 3 through the three-phase power cables 4.2.

[0041] The moving coil electromagnetic catapult device further includes a position detection module 6, which is arranged on the mounting base. The position detection module 6 can detect the position of the linear motor mover assembly 5 in real time. The moving coil electromagnetic catapult device further includes a control module 7, which is electrically connected to the position detection module 6 and the three-phase power supply 4.1 respectively. The control module 7 can adjust the compensation current of the three-phase power supply 4.1 according to the position of the linear motor mover assembly 5 fed back by the position detection module 6. The control module 7 can calculate the required current according to the real-time position measured by the position detection module 6, and control the current command of the three-phase power supply 4.1 to be updated at a high frequency, ensuring that the current adjustment is synchronized with the magnetic field change and avoiding thrust fluctuation. On the premise of meeting the thrust requirement, a low current amplitude is preferably adopted to reduce the joule loss and arc wear of the collector brush and the current collection rail 3. The position detection module 6 includes a plurality of position detection sensors uniformly arranged along the first direction to facilitate the detection of the real-time position of the linear motor mover assembly 5.

[0042] The specific calculation formula for the distance p1(x) between the accelerating magnetic stators 2.1 is as follows:

[0043]

[0044] Where: p min is the starting distance of the acceleration section, which is determined by the magnetic saturation limit; k a = p mid - p min p mid is the starting distance of the constant-speed section, x o is the starting position of the linear motor mover assembly 5 in the acceleration section, L a is the length of the acceleration section;

[0045] Generally, the distance between the constant-speed magnetic stators 2.2 is a fixed value.

[0046] In this embodiment, the distance p2(x) between the constant-speed magnetic stators 2.2 is the distance between the accelerating magnetic stators 2.1 at the end of the acceleration section.

[0047] The goal of the constant-speed section is to maintain the mover moving at a constant speed. At this time, the electromagnetic force (i.e., the required thrust) only needs to balance the resistance (such as friction, air resistance, eddy current loss varying with speed).

[0048] The specific calculation formula for the distance p3(x) between the decelerating magnetic stators 2.3 is as follows:

[0049]

[0050] Where: k d = p max - p min , x2 is the starting position of the linear motor mover assembly 5 in the deceleration section, Ld is the deceleration section length.

[0051] This embodiment also provides a control method for a moving coil electromagnetic catapult device, which controls the above-mentioned moving coil electromagnetic catapult device to perform electromagnetic catapult operations, including:

[0052] S1: Establish a dynamic equation according to the catapult mission, calculate the lengths of the acceleration section and the deceleration section and the required thrust for each stage based on the dynamic equation, and design the arrangement spacing of the magnetically non-uniform stator assembly 2 according to the calculation results, where: the catapult mission includes the catapult height, the final catapult velocity, the mass of the projectile + mover, and the acceleration; in actual operations, the length of the constant velocity section in specific cases can be 0.

[0053] Among them, the dynamic equation includes but is not limited to:

[0054] t(x) = (V(x) - V0) / a(x);

[0055]

[0056] F(x) = m·a(x) + F 阻力 ;

[0057] Among them: F(x) is the required thrust for each stage, m is the mass of the projectile + mover, a(x) is the acceleration, V(x) is the real-time velocity of the mover, V0 is the initial velocity of the mover, t(x) is the time, S(x) is the length of the catapult track, and F 阻力 includes frictional resistance, eddy current loss, etc.

[0058] Measure or simulate the magnetic field distribution of the permanent magnet array based on the designed arrangement spacing of the magnetically non-uniform stator assembly 2, and store it as a position-magnetic field query table;

[0059] S2: Turn on the three-phase power supply, supply power to the current collector rail, and the linear motor mover assembly 5 moves along the current collector rail under the action of the non-uniform magnetic field;

[0060] S3: Obtain the real-time position x of the linear motor mover assembly 5 through the position detection module 6;

[0061] S4: The control module 7 obtains the magnetic field distribution corresponding to the real-time position according to the real-time position x and the position-magnetic field query table, and calculates the real-time required current;

[0062] The required current is determined by factors such as the required thrust for each position, and the required thrust is calculated according to project conditions such as the final catapult velocity required by the project requirements and the length of the catapult track.

[0063] In S4, the specific calculation formula for the real-time required current is as follows:

[0064] I(x) = F(x) / α·B(x);

[0065] Where: I(x) is the real-time required current at the real-time position x; α is the motor force constant; F(x) is the required thrust, and the calculation formula for the required thrust includes but is not limited to:

[0066] F(x) = m·a(x) + F 阻力 ;

[0067] F(x) = P(x) / V(x);

[0068] F(x) = B*I*L;

[0069] Where: P(x) is the real-time power; B is the magnetic field strength at the real-time position x, and L is the length of the conductor effectively cutting the magnetic induction lines in the magnetic field.

[0070] S5: The control module 7 updates the current command for the three-phase power supply 4.1 in real time according to the calculated required current to ensure that the current adjustment is synchronized with the change in the magnetic field distribution.

[0071] Since the control method of this moving coil electromagnetic catapult device includes the moving coil electromagnetic catapult device as described above, the control method of this moving coil electromagnetic catapult device has all the beneficial effects of the above-mentioned moving coil electromagnetic catapult device, and will not be elaborated here one by one.

[0072] Matters not covered in this embodiment are all prior arts.

[0073] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made under the inventive concept of the present invention, or direct / indirect application in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A moving coil electromagnetic catapult device, characterized in that It includes an ejection mount (1), a non-uniform magnetic stator assembly (2), a current collector rail (3), a power supply assembly (4), and a linear motor mover assembly (5). The non-uniform magnetic stator assembly and the current collector rail (3) are both arranged on the ejection mount (1) along a first direction, and the non-uniform magnetic stator assembly and the current collector rail (3) are arranged at intervals. The non-uniform magnetic stator assembly can generate a non-uniform magnetic field. The power supply assembly (4) is electrically connected to the current collector rail (3) and can supply power to the current collector rail (3). The linear motor mover assembly (5) is slidably arranged on the current collector rail (3), and under the action of the non-uniform magnetic field, the linear mover assembly can perform accelerated and decelerated motions along the current collector rail (3).

2. The moving coil electromagnetic catapult device according to claim 1, characterized in that, The magnetic non-uniform stator assembly (2) includes an acceleration section and a deceleration section. The acceleration section includes a plurality of acceleration magnetic stators (2.1) arranged in sequence along the first direction, and the distance between two adjacent acceleration magnetic stators (2.1) increases linearly with a slope k a ; the deceleration section includes a plurality of deceleration magnetic stators (2.3) arranged in sequence along the first direction, and the distance between two adjacent deceleration magnetic stators (2.2) decreases linearly with a slope k d .

3. The moving coil electromagnetic catapult device according to claim 2, wherein, The non-uniform magnetic stator assembly (2) further includes a uniform speed section arranged between the acceleration section and the deceleration section. The uniform speed section includes a plurality of uniform magnetic stators (2.2) arranged in sequence along the first direction. The linear motor mover assembly (5) can perform uniform speed motion under the action of the uniform magnetic stators (2.2).

4. The moving coil electromagnetic catapult device according to claim 3, characterized in that, The distance between two adjacent uniform magnetic stators (2.2) is a fixed value.

5. The moving coil electromagnetic catapult device according to claim 4, characterized in that, The acceleration magnetic stator (2.1), the uniform magnetic stator (2.2), and the deceleration magnetic stator (2.3) are all permanent magnet stators.

6. The moving coil electromagnetic catapult device according to claim 5, characterized in that, The linear motor mover assembly (5) includes a linear motor mover coil and a collector brush. The linear motor mover coil is arranged on the collector brush. The collector brush is slidably arranged on the current collector rail (3), and the linear motor mover coil is in sliding contact with the current collector rail (3) through the collector brush for power supply.

7. The moving coil electromagnetic catapult device according to claim 6, characterized in that, The linear motor mover coil is an air-core coil or a non-air-core coil.

8. The moving coil electromagnetic catapult device according to any one of claims 2 to 7, characterized in that, The power supply assembly (4) includes a three-phase power supply (4.1) and three-phase power cables. The three-phase power supply (4.1) is electrically connected to the current collector rail (3) through the three-phase power cables.

9. The moving coil electromagnetic catapult device according to claim 8, characterized in that, The moving coil electromagnetic ejection device further includes a position detection module (6) and a control module (7). The position detection module (6) is arranged on the mount. The position detection module (6) can detect the position of the linear motor mover assembly (5) in real time. The control module (7) is electrically connected to the position detection module (6) and the three-phase power supply (4.1) respectively. The control module (7) can adjust the compensation current of the three-phase power supply (4.1) according to the position of the linear motor mover assembly (5) fed back by the position detection module (6).

10. A control method for a moving coil electromagnetic catapult device, which controls the moving coil electromagnetic catapult device as described in claim 9 to perform electromagnetic catapult operations, characterized in that, It includes: S1: Establish a dynamic equation according to the ejection task, calculate the lengths of the acceleration section and the deceleration section and the thrust required for each stage based on the dynamic equation, and design the arrangement spacing of the non-uniform magnetic stator assembly (2) according to the calculation results, where: the ejection task includes ejection height, ejection final velocity, ejection object + mover mass, and acceleration; Measure or simulate the magnetic field distribution of the permanent magnet array based on the designed arrangement spacing of the non-uniform magnetic stator assembly (2), and store it as a position-magnetic field query table. S2: Turn on the three-phase power supply to supply power to the current collector rail. The linear motor mover assembly (5) moves along the current collector rail under the action of the non-uniform magnetic field; S3: Obtain the real-time position x of the linear motor mover assembly (5) through the position detection module (6); S4: The control module (7) obtains the magnetic field distribution corresponding to the real-time position according to the real-time position x and the position-magnetic field look-up table, and calculates the current required in real time; S5: The control module (7) updates the current command for the three-phase power supply in real time according to the calculated required current to ensure that the current adjustment is synchronized with the change of the magnetic field distribution.

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