Motor, motor servo system, suspension system and automobile

Abstract

The embodiment of the invention discloses a motor, a motor servo system, a suspension system and an automobile. The motor comprises a first assembly, the first assembly comprises a shell and a plurality of permanent magnet groups, the plurality of permanent magnet groups are arranged at intervals along the circumferential direction of the shell, and each permanent magnet group comprises a plurality of permanent magnets and forms a Halbach array along the axial direction of the shell; the size of at least one permanent magnet in each permanent magnet group is different from the size of the adjacent permanent magnets in the adjacent permanent magnet group in the axial direction, so that the overall magnetic resistance of the linear motor can be reduced on the whole, the thrust fluctuation and the thrust harmonic content of the linear motor can be effectively reduced, and the reliability of the linear motor is improved. And the end effect and the cogging effect of the linear motor are effectively inhibited.

Description

Technical Field

[0001] The present application relates to the field of motor technology, and in particular to a motor, a motor servo system, a suspension system and a car. Background Art

[0002] A linear motor is a transmission device that converts electrical energy directly into mechanical energy for linear motion. It offers outstanding advantages such as zero transmission chain, no contact, no backlash, high rigidity, and fast response. The operating principle of a linear motor is similar to that of a rotary motor cut radially and flattened. The primary acts as the stator, and the secondary acts as the rotor. Linear motion is achieved through electromagnetic force.

[0003] In related technologies, the end effect and cogging effect of the linear motor will generate magnetic resistance, causing thrust fluctuations in the linear motor during steady-state operation, causing the linear motor to generate vibration and noise, especially when the motor is running at low speed, which seriously affects the performance of the motor servo system. Summary of the Invention

[0004] In response to the deficiencies in the prior art, the present application provides a motor, a motor servo system, a suspension system, and a vehicle, which can reduce the overall magnetic resistance of the linear motor as a whole, and effectively suppress the end effect and cogging effect of the linear motor.

[0005] To solve the above problems, in a first aspect, the present application provides a motor, including a first component, the first component including:

[0006] case;

[0007] A plurality of permanent magnet groups, the plurality of permanent magnet groups are arranged at intervals along the circumferential direction of the shell, each permanent magnet group includes a plurality of permanent magnets and forms a Halbach array along the axial direction of the shell;

[0008] Wherein, at least one permanent magnet in each permanent magnet group has a different size in the axial direction from an adjacent permanent magnet in an adjacent permanent magnet group.

[0009] Furthermore, in the motor provided in the present application, each permanent magnet group includes a plurality of unit groups, each unit group includes a plurality of permanent magnets, and two unit groups adjacent to each other in the circumferential direction include a first unit group and a second unit group respectively;

[0010] The first unit group and the second unit group have the same size in the axial direction.

[0011] Furthermore, in the motor provided in the present application, at least one permanent magnet in the first unit group and its corresponding permanent magnet in the second unit group have different sizes along the axial direction.

[0012] Furthermore, in the motor provided in the present application, the permanent magnets corresponding to one end of the first unit group and the second unit group have different sizes along the axial direction; the permanent magnets corresponding to the other end of the first unit group and the second unit group have different sizes along the axial direction.

[0013] Furthermore, in the motor provided in the present application, the difference in size along the axial direction between the permanent magnets corresponding to one end of the first unit group and the second unit group is a preset first value 2x; the sum of the sizes along the axial direction between the permanent magnets corresponding to one end of the first unit group and the second unit group is a preset second value 2w; the first value and the second value satisfy the following: 0≤x / w≤0.25; or / and,

[0014] The permanent magnets corresponding to the other ends of the first unit group and the second unit group have a size difference in the axial direction that is a preset first value; the permanent magnets corresponding to the other ends of the first unit group and the second unit group have a size sum in the axial direction that is a preset second value; the first value and the second value satisfy the following: 0≤x / w≤0.25.

[0015] Furthermore, in the motor provided in the present application, the first value and the second value satisfy: x / w=0.2.

[0016] Furthermore, in the motor provided in the present application, the permanent magnet group includes three adjacent unit groups, including a first unit group, a second unit group, and a third unit group;

[0017] The first unit group, the second unit group and the third unit group are arranged at intervals along the circumferential direction of the shell.

[0018] Furthermore, in the motor provided in the present application, at least one corresponding permanent magnet in the adjacent third unit group and the first unit group has different sizes in the axial direction; or / and,

[0019] At least one permanent magnet corresponding to the adjacent third unit groups and the second unit groups has different sizes in the axial direction.

[0020] Furthermore, in the motor provided in the present application, the third unit group is arranged between the first unit group and the second unit group.

[0021] Furthermore, in the motor provided in the present application, the first unit group, the second unit group, and the third unit group have the same size in the axial direction.

[0022] Furthermore, in the motor provided in the present application, at least two corresponding permanent magnets in the third unit group and the first unit group have different sizes along the axial direction; or / and,

[0023] At least two corresponding permanent magnets in the third unit group and the second unit group have different sizes along the axial direction.

[0024] Furthermore, in the motor provided in the present application, the permanent magnets corresponding to one end of the third unit group and the first unit group have different sizes along the axial direction, and the permanent magnets corresponding to the other end of the third unit group and the first unit group have different sizes along the axial direction; or / and,

[0025] The permanent magnets corresponding to one end of the third unit group and the second unit group have different sizes along the axial direction, and the permanent magnets corresponding to the other end of the third unit group and the second unit group have different sizes along the axial direction.

[0026] Furthermore, in the motor provided in the present application, the permanent magnets in the third unit group have the same size along the axial direction.

[0027] Furthermore, in the motor provided in the present application, the difference in size along the axial direction between the permanent magnets corresponding to one end of the first unit group and the second unit group is a preset first value 2x, and the sum of the sizes along the axial direction between the permanent magnets corresponding to one end of the first unit group and the second unit group is a preset second value 2w, and the first value and the second value satisfy the following: 0≤x / w≤0.4; or / and,

[0028] The permanent magnets corresponding to the other ends of the first unit group and the second unit group have a size difference in the axial direction that is a preset first value, and the permanent magnets corresponding to the other ends of the first unit group and the second unit group have a size sum in the axial direction that is a preset second value, and the first value and the second value satisfy: 0≤x / w≤0.4.

[0029] Furthermore, in the motor provided in the present application, the first value and the second value satisfy: x / w=0.3.

[0030] Furthermore, in the motor provided in the present application, at least one corresponding permanent magnet in the first unit group and the third unit group has the same size in the axial direction; or / and,

[0031] At least one corresponding permanent magnet in the second unit group and the third unit group has the same size in the axial direction.

[0032] Furthermore, in the motor provided in the present application, the motor further includes a second component, and the second component includes a stator core;

[0033] The length of the stator core in the axial direction is (k±a) times the pole pitch of the first component, where k is a positive integer and 0≤a≤1.

[0034] Furthermore, in the motor provided in the present application, the stator core is provided with a receiving slot for receiving the winding;

[0035] The width of the accommodating slot in the axial direction is n times the ratio of the length of the stator core in the axial direction to the number of the accommodating slots, 0.3≤n≤0.7.

[0036] Furthermore, in the motor provided in the present application, the depth of the accommodating slot is m times the ratio between the outer diameter and the inner diameter of the stator core, 0.65≤m≤0.85.

[0037] Furthermore, in the motor provided in the present application, the air gap spacing between the first component and the second component is greater than or equal to 0.5 mm and less than or equal to 2 mm.

[0038] Furthermore, in the motor provided in the present application, the motor is a cylindrical linear motor or a polyhedral linear motor.

[0039] Furthermore, in the motor provided in the present application, the axial shape of the polyhedron linear motor is a regular N-gon; N is an even number and is greater than or equal to 6.

[0040] Furthermore, in the motor provided in the present application, the number of skew pole segments of the permanent magnet group is a common divisor of N-2.

[0041] In a second aspect, the present application also provides a motor servo system, which includes the motor provided in the first aspect.

[0042] In a third aspect, the present application further provides a suspension system, which includes the motor provided in the first aspect, or the motor servo system provided in the second aspect.

[0043] In a fourth aspect, the present application also provides a car, which includes the motor provided in the first aspect, or the motor servo system provided in the second aspect, or the suspension system provided in the third aspect.

[0044] The motor provided in the present application includes a first component, which includes a shell and multiple permanent magnet groups. The multiple permanent magnet groups are arranged at intervals along the circumferential direction of the shell, and each permanent magnet group includes multiple permanent magnets and forms a Halbach array along the axial direction of the shell; at least one permanent magnet in each permanent magnet group has a different size along the axial direction from the adjacent permanent magnets in the adjacent permanent magnet group, thereby reducing the overall magnetic resistance of the linear motor as a whole, effectively reducing the thrust fluctuation and thrust harmonic content of the linear motor, and effectively suppressing the end effect and cogging effect of the linear motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0046] Figure 1 A schematic diagram of the magnet edge effect provided in an embodiment of the present application;

[0047] Figure 2 A schematic structural diagram of a permanent magnet assembly provided in an embodiment of the present application;

[0048] Figure 3 A schematic diagram of the partial structure of a permanent magnet group provided in an embodiment of the present application;

[0049] Figure 4 A schematic diagram of the structure of a linear motor provided in an embodiment of the present application;

[0050] Figure 5 A schematic cross-sectional view of a linear motor provided in an embodiment of the present application;

[0051] Figure 6 An exploded view of a linear motor provided in an embodiment of the present application;

[0052] Figure 7 A schematic diagram of the structure of a stator core provided in an embodiment of the present application wound with windings;

[0053] Figure 8 A schematic structural diagram of a stator core provided in an embodiment of the present application;

[0054] Figure 9 A cross-sectional view of a permanent magnet assembly provided in an embodiment of the present application;

[0055] Figure 10 A schematic diagram of a non-misaligned magnetic pole provided in an embodiment of the present application;

[0056] Figure 11 A schematic diagram of magnetic pole misalignment provided in an embodiment of the present application;

[0057] Figure 12 A cross-sectional view of a permanent magnet assembly provided in an embodiment of the present application;

[0058] Figure 13 A schematic diagram showing that the magnetic poles are not misaligned according to an embodiment of the present application;

[0059] Figure 14 A schematic diagram of magnetic pole misalignment provided in an embodiment of the present application;

[0060] Figure 15A comparison chart of the thrust of a linear motor with and without magnetic pole misalignment provided in an embodiment of the present application;

[0061] Figure 16 A comparison chart of the thrust harmonic content of a linear motor with and without magnetic pole misalignment provided in an embodiment of the present application;

[0062] Figure 17 A comparison diagram of the magnetic resistance of a linear motor with and without magnetic pole misalignment provided in an embodiment of the present application;

[0063] Figure 18 A diagram of the edge magnetic resistance of a permanent magnet group provided in an embodiment of the present application;

[0064] Figure 19 A diagram showing the effect of magnetic pole misalignment on magnetic resistance provided by an embodiment of the present application;

[0065] Figure 20 A diagram showing the effect of magnetic pole misalignment on thrust fluctuations provided in an embodiment of the present application;

[0066] Figure 21 A diagram showing the effect of magnetic pole misalignment on thrust provided in an embodiment of the present application;

[0067] Figure 22 A diagram showing the effect of magnetic pole misalignment on magnetic resistance provided by an embodiment of the present application;

[0068] Figure 23 A diagram showing the effect of magnetic pole misalignment on thrust fluctuations provided in an embodiment of the present application;

[0069] Figure 24 A diagram illustrating the effect of magnetic pole misalignment on thrust provided in an embodiment of the present application.

[0070] Reference numerals:

[0071] 1 is a motor, 10 is a first component, 110 is a housing, 120 is a permanent magnet group, 121 is a first unit group, 101 is a first permanent magnet, 102 is a second permanent magnet, 103 is a third permanent magnet, 104 is a fourth permanent magnet, 122 is a second unit group, 105 is a fifth permanent magnet, 106 is a sixth permanent magnet, 107 is a seventh permanent magnet, 108 is an eighth permanent magnet, 123 is a third unit group, 109 is a ninth permanent magnet, 20 is a second component, 210 is a stator core, 201 is a receiving slot, and 220 is an armature winding. DETAILED DESCRIPTION

[0072] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0073] It will be understood that when used in this specification and the appended claims, the terms “comprises” and “comprising” indicate the presence of described features, integers, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0074] It should also be understood that the terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0075] It should be further understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0076] In addition, in this application, unless otherwise clearly specified or limited in the embodiments, the terms "installed", "connected", "connected" and "fixed" appearing in the embodiments should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or an integrated connection. It can also be a mechanical connection, an electrical connection, etc.; of course, it can also be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements, or the interaction relationship between two elements. For those skilled in the art, the specific meanings of the above terms in this application can be understood based on the specific implementation.

[0077] It should be noted that the terms "center," "up," "down," "left," "right," "vertical," "horizontal," "inside," and "outside" that may be mentioned in the description of this application indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships in which the product is typically placed when in use. These terms are intended solely to facilitate the description of this application and to simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third," etc., are used solely to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0078] In the related technology, the Chinese invention patent provides a secondary of a cylindrical permanent magnet linear motor, which is an axisymmetric structure and consists of multiple iron cores, an outer sleeve, an inner sleeve or cylinder and multiple permanent magnets; the outer sleeve and the inner sleeve or cylinder are both made of non-magnetic materials, the iron cores and the permanent magnets are both annular, the multiple iron cores and the multiple permanent magnets are fixed between the outer sleeve and the inner sleeve or cylinder, and the multiple iron cores and the multiple permanent magnets are closely arranged alternately. On the secondary radial cross-section, every two adjacent permanent magnets form a positive V-shape or an inverted V-shape, and the angle between the two adjacent permanent magnets is B, and the value range of the angle B is (0°, 180°). Four consecutive adjacent permanent magnets form a W-shape. Four consecutive adjacent permanent magnets and the iron core in between form a pair of magnetic poles. The angles between the central axis of the inner sleeve or cylinder and the magnetization directions of the four permanent magnets in each pair of magnetic poles are: A1=B / 2, A2=180°-B / 2, A3=180°+B / 2, A4=360°-B / 2, thereby, while increasing the volume of a small amount of permanent magnets, the magnetic flux generated by the two permanent magnets under each pole can be concentrated toward the iron core in the middle, thereby increasing the magnetic flux area and magnetic potential emitted by the permanent magnets, and improving the air gap magnetic flux density, thereby achieving the technical effect of improving the thrust density of the motor.

[0079] However, the above scheme does not make corresponding optimization for the magnetic resistance and thrust fluctuations of the linear motor, causing the motor to generate vibration and noise, especially when the motor is running at low speed, which seriously affects the performance of the motor servo system; at the same time, the circular permanent magnet is difficult to magnetize, the built-in V-shaped structure increases the leakage of magnetic flux and increases the difficulty of installation and manufacturing.

[0080] like Figure 1 As shown, due to the special structure of the linear motor, its magnetic circuit is not continuously closed like the permanent magnet synchronous motor, and there is an end effect, that is, there is a left end force F on the stator core. end1 and the right end force F end2 Both are periodic forces. Since the forces at both ends are no longer symmetrical and there is a certain phase difference, the resultant force is no longer zero, which causes resistance when the motor is running. At the same time, due to the slotting of the iron core, the magnetic circuit is no longer uniform, resulting in the size and direction of the resultant force of the primary and secondary at different positions constantly changing, which is the cogging effect. Both are manifested as thrust fluctuations or magnetic resistance of the linear motor. The uneven thrust has an adverse effect on the motion system of low-speed operation and fast and precise positioning. Therefore, effectively suppressing the end effect and cogging effect without weakening the thrust density is an important research direction of permanent magnet synchronous linear motors.

[0081] To this end, the present application provides a motor, a motor servo system, a suspension system, and a vehicle. The motor includes a first component, comprising a housing and a plurality of permanent magnet groups. The plurality of permanent magnet groups are spaced apart along the circumference of the housing, and each permanent magnet group includes a plurality of permanent magnets that form a Halbach array along the axial direction of the housing. At least one permanent magnet in each permanent magnet group has a different axial size from adjacent permanent magnets in adjacent permanent magnet groups, thereby reducing the overall magnetic drag of the linear motor and effectively suppressing the end effect and cogging effect of the linear motor.

[0082] See also Figure 2 、 Figure 3 、 Figure 4 、 Figure 11 and Figure 14 , Figure 2 A schematic structural diagram of a permanent magnet assembly provided in an embodiment of the present application; Figure 3 A schematic diagram of the partial structure of a permanent magnet group provided in an embodiment of the present application; Figure 4 A schematic diagram of the structure of a linear motor provided in an embodiment of the present application; Figure 11 A schematic diagram of magnetic pole misalignment provided in an embodiment of the present application; Figure 14 A schematic diagram of magnetic pole misalignment provided in an embodiment of the present application.

[0083] like Figure 2 、 Figure 3 、 Figure 4 、 Figure 11 and Figure 14 As shown, the present application provides a motor 1, including a first component 10, the first component 10 including:

[0084] Housing 110;

[0085] Multiple permanent magnet groups 120 , the multiple permanent magnet groups 120 are spaced apart along the circumferential direction of the housing 110 , each permanent magnet group 120 includes multiple permanent magnets and forms a Halbach array along the axial direction of the housing 110 ;

[0086] The size of at least one permanent magnet in each permanent magnet group 120 is different from that of adjacent permanent magnets in adjacent permanent magnet groups 120 in the axial direction.

[0087] In this embodiment, multiple permanent magnet groups 120 are spaced apart and arranged along the circumference of the housing 110. Each permanent magnet group 120 includes multiple permanent magnets and forms a Halbach array along the axial direction of the housing 110, thereby forming a polyhedral linear motor or a cylindrical linear motor. The circumferential surface of the polyhedral linear motor can be a regular quadrilateral, a regular hexagon, a regular octagon, a regular decagon, or the like.

[0088] Specifically, the motor 1 may be a linear motor, the first assembly 10 may be a rotor assembly, the housing 110 may be understood as the rotor core within the rotor assembly, and the plurality of permanent magnet groups 120 may be understood as a plurality of permanent magnets spaced apart along the circumferential direction of the rotor core and forming a Halbach array along the axial direction of the housing 110. The linear motor may have a short stator and long rotor structure, or a long stator and short rotor structure. The stator core 210 may be assembled in sections or machined integrally.

[0089] At the same time, in order to reduce the magnetic resistance of the linear motor as a whole, at least one permanent magnet in each permanent magnet group 120 can be set to have different sizes in the axial direction from the adjacent permanent magnets of the adjacent permanent magnet group 120, so as to realize that the permanent magnet group 120 arranged in the circumferential direction forms a skewed pole structure, that is, the magnetic poles of the permanent magnet group 120 arranged in the circumferential direction are staggered, and then the magnetic resistance of the permanent magnet group 120 arranged in the circumferential direction can be offset, thereby reducing the overall magnetic resistance of the linear motor as a whole, and effectively suppressing the end effect and tooth effect of the linear motor.

[0090] The Halbach Array is a special magnet arrangement structure, which includes a linear Halbach array and a circular Halbach array. The linear Halbach array is a special magnet arrangement method. Its application fields include linear motors and magnetic levitation trains. Especially in the field of linear motors, it can effectively improve the power density and efficiency of the motor 1 while reducing the volume of the motor 1. The linear Halbach array is specifically arranged by arranging permanent magnets with different magnetizing directions according to a specific rule, so that the magnetic field on one side is significantly enhanced, while the magnetic field on the other side is close to zero. The linear Halbach array structure is usually composed of rare earth permanent magnet materials.

[0091] like Figure 17 As shown, the permanent magnet group 120 arranged in the circumferential direction forms a motor 1 with an oblique pole structure, which can significantly reduce the magnetic resistance of the motor 1 compared to the motor 1 in which the permanent magnet group 120 arranged in the circumferential direction does not form an oblique pole structure.

[0092] in, Figure 17 Before the optimization, it can be understood that the permanent magnet group 120 is arranged in the circumferential direction to form an oblique pole structure, and after the optimization, it can be understood that the permanent magnet group 120 is arranged in the circumferential direction to not form an oblique pole structure.

[0093] In the present application, the permanent magnet groups 120 arranged along the circumferential direction of the shell 110 can each include four permanent magnets, and the permanent magnets can be magnetic steel. The four permanent magnets in the permanent magnet groups 120 arranged along the circumferential direction of the shell 110 can be arranged in a Halbach array in sequence along the axial direction of the shell 110. At least one permanent magnet in the permanent magnet group 120 arranged in the circumferential direction of the shell 110 has a different size in the axial direction from the adjacent permanent magnets of the adjacent permanent magnet group 120 to form a skew pole structure. At the same time, the magnetic pole directions of the corresponding permanent magnets in the permanent magnet group 120 arranged in the circumferential direction of the shell 110 are the same.

[0094] Wherein, when the corresponding permanent magnets in the permanent magnet group 120 arranged in the circumferential direction of the housing 110 have the same size in the axial direction, the permanent magnet group 120 arranged in the circumferential direction of the housing 110 does not form a skewed pole structure.

[0095] The motor 1 provided in the present application includes a first component 10, which includes a shell 110 and multiple permanent magnet groups 120. The multiple permanent magnet groups 120 are arranged at intervals along the circumferential direction of the shell 110, and each permanent magnet group 120 includes multiple permanent magnets and forms a Halbach array along the axial direction of the shell 110; at least one permanent magnet in each permanent magnet group 120 has a different size along the axial direction from the adjacent permanent magnets in the adjacent permanent magnet group 120, thereby reducing the overall magnetic resistance of the linear motor as a whole, effectively reducing the thrust fluctuation and thrust harmonic content of the linear motor, and effectively suppressing the end effect and cogging effect of the linear motor.

[0096] In some embodiments, each permanent magnet group 120 includes multiple unit groups, each unit group includes multiple permanent magnets, and two adjacent unit groups along the circumferential direction respectively include a first unit group 121 and a second unit group 122; wherein the first unit group 121 and the second unit group 122 have the same size along the axial direction.

[0097] In this embodiment, each permanent magnet group 120 includes multiple unit groups, and the two adjacent unit groups along the circumferential direction can be understood as the first unit group 121 and the second unit group 122, respectively. The first unit group 121 and the second unit group 122 can be segmented to form multiple permanent magnets, and the permanent magnets in the first unit group 121 and the second unit group 122 can be arranged in a linear Halbach array.

[0098] The motor 1 corresponding to the permanent magnet group 120 can be a regular polyhedron structure. The permanent magnets in the first unit group 121 and the permanent magnets in the second unit group 122 can each be arranged in a linear Halbach array along the axial direction of the shell 110. In order to reduce the resistance of the linear motor operation, it is also necessary to ensure that the dimensions of the first unit group 121 and the second unit group 122 in the axial direction are the same, that is, the width between the first unit group 121 and the second unit group 122 is the same.

[0099] In some embodiments, at least one permanent magnet in the first unit group 121 and its corresponding permanent magnet in the second unit group 122 have different sizes along the axial direction.

[0100] In this embodiment, the first unit group 121 and the second unit group 122 are segmented to form a plurality of permanent magnets, and the permanent magnets in the first unit group 121 and the second unit group 122 are arranged in a linear Halbach array. To reduce the electromagnetic resistance of the linear motor, the present application can increase or decrease the width of some of the permanent magnets in the first unit group 121 and the second unit group 122, that is, increase or decrease the size in the axial direction, to achieve magnetic pole misalignment between the first unit group 121 and the second unit group 122.

[0101] When increasing or decreasing the width of some permanent magnets in the first unit group 121 and the second unit group 122, the dimensions of the first unit group 121 and the second unit group 122 along the axial direction need to be the same, and thus the widths of at least two corresponding permanent magnets in the first unit group 121 and the second unit group 122 need to be increased or decreased.

[0102] In some embodiments, the permanent magnets corresponding to one end of the first unit group 121 and the second unit group 122 have different sizes along the axial direction; the permanent magnets corresponding to the other end of the first unit group 121 and the second unit group 122 have different sizes along the axial direction.

[0103] In this embodiment, if Figure 2 、 Figure 3 and Figure 5 As shown, the first unit group 121 and the second unit group 122 each include a plurality of permanent magnets, and one end and the other end of the first unit group 121 and the second unit group 122 can be understood as the corresponding two ends of the first unit group 121 and the second unit group 122.

[0104] The first unit group 121 can be segmented into four permanent magnets, namely the first permanent magnet 101, the second permanent magnet 102, the third permanent magnet 103 and the fourth permanent magnet 104. The first permanent magnet 101, the second permanent magnet 102, the third permanent magnet 103 and the fourth permanent magnet 104 can be arranged in a linear Halbach array.

[0105] Among them, the first permanent magnet 101 can be understood as the permanent magnet at the first section of the first unit group 121, the second permanent magnet 102 and the third permanent magnet 103 can be understood as the permanent magnets at the middle two sections of the first unit group 121, and the fourth permanent magnet 104 can be understood as the permanent magnet at the end of the first unit group 121.

[0106] The second unit group 122 can be segmented into multiple permanent magnets, such as segmented into four permanent magnets, namely the fifth permanent magnet 105, the sixth permanent magnet 106, the seventh permanent magnet 107 and the eighth permanent magnet 108. The fifth permanent magnet 105, the sixth permanent magnet 106, the seventh permanent magnet 107 and the eighth permanent magnet 108 can be arranged in a linear Halbach array.

[0107] Among them, the fifth permanent magnet 105 can be understood as the permanent magnet at the first section of the second unit group 122, the sixth permanent magnet 106 and the seventh permanent magnet 107 can be understood as the permanent magnets at the middle two sections of the second unit group 122, and the eighth permanent magnet 108 can be understood as the permanent magnet at the end of the second unit group 122.

[0108] In addition, the first permanent magnet 101 corresponds to the fifth permanent magnet 105 and has the same magnetic pole, the second permanent magnet 102 corresponds to the sixth permanent magnet 106 and has the same magnetic pole, the third permanent magnet 103 corresponds to the seventh permanent magnet 107 and has the same magnetic pole, and the fourth permanent magnet 104 corresponds to the eighth permanent magnet 108 and has the same magnetic pole.

[0109] like Figure 10 As shown, when the oblique pole structure is not formed between the first unit group 121 and the second unit group 122, the first permanent magnet 101, the second permanent magnet 102, the third permanent magnet 103, the fourth permanent magnet 104, the fifth permanent magnet 105, the sixth permanent magnet 106, the seventh permanent magnet 107 and the eighth permanent magnet 108, the fifth permanent magnet 105, the sixth permanent magnet 106, the seventh permanent magnet 107 and the eighth permanent magnet 108 have the same size in the axial direction, that is, the same width.

[0110] Specifically, in order to achieve the formation of an oblique pole structure between the first unit group 121 and the second unit group 122, on the basis of the same size of the first unit group 121 and the second unit group 122 in the axial direction, the size of the first permanent magnet 101, the fourth permanent magnet 104, the fifth permanent magnet 105 and the eighth permanent magnet 108 in the axial direction can be increased or decreased. Specifically, the size of the first permanent magnet 101 and the eighth permanent magnet 108 in the axial direction can be increased, and the size of the fourth permanent magnet 104 and the fifth permanent magnet 105 in the axial direction can be reduced, so that the oblique pole structure can be formed between the first unit group 121 and the second unit group 122, so that there is a phase difference between the magnetic resistances generated by the adjacent first unit group 121 and the second unit group 122, so that the magnetic resistances generated by the two adjacent unit groups arranged in the circumferential direction in the linear motor can offset each other, and ultimately the overall magnetic resistance of the linear motor is reduced.

[0111] In some embodiments, as Figure 13As shown, the distance between the permanent magnet at one end of the first unit group 121 and the centering line of the first unit group 121 is equal to the distance between the permanent magnet at the other end of the second unit group 122 and the centering line of the first unit group 121; the distance between the permanent magnet at the other end of the first unit group 121 and the centering line of the first unit group 121 is equal to the distance between the permanent magnet at one end of the second unit group 122 and the centering line of the first unit group 121; the distance between the permanent magnet at one end of the first unit group 121 and the centering line of the second unit group 122 is equal to the distance between the permanent magnet at the other end of the second unit group 122 and the centering line of the second unit group 122; the distance between the permanent magnet at the other end of the first unit group 121 and the centering line of the second unit group 122 is equal to the distance between the permanent magnet at one end of the second unit group 122 and the centering line of the second unit group 122.

[0112] In this embodiment, the centering line of the first unit group 121 coincides with the centering line of the second unit group 122. In the present application, on the basis of the first unit group 121 and the second unit group 122 having the same size in the axial direction, the size of the first permanent magnet 101, the fourth permanent magnet 104, the fifth permanent magnet 105, and the eighth permanent magnet 108 in the axial direction can be increased or decreased.

[0113] Specifically, the dimension of the first permanent magnet 101 along the axial direction can be offset to the right relative to the centering line of the first unit group 121 or the second unit group 122, so that the distance between the first permanent magnet 101 and the centering line is the first distance; the dimension of the eighth permanent magnet 108 along the axial direction can be offset to the left relative to the centering line of the first unit group 121 or the second unit group 122, so that the distance between the eighth permanent magnet 108 and the centering line is the first distance, that is, the dimensions of the first permanent magnet 101 and the eighth permanent magnet 108 along the axial direction are increased to w+x.

[0114] At the same time, the size of the fourth permanent magnet 104 along the axial direction is offset to the right relative to the centering line of the first unit group 121 or the second unit group 122, so that the distance between the fourth permanent magnet 104 and the centering line is the second distance; and the size of the fifth permanent magnet 105 along the axial direction is offset to the left relative to the centering line of the first unit group 121 or the second unit group 122, so that the distance between the fifth permanent magnet 105 and the centering line is the second distance, that is, the size of the fourth permanent magnet 104 and the fifth permanent magnet 105 along the axial direction is reduced to wx, thereby forming a skew pole structure between the adjacent first unit group 121 and the second unit group 122 arranged in the circumferential direction.

[0115] Wherein, w is the dimension in the axial direction before the poles are tilted, x is the distance between the permanent magnets and the center line, the first distance is smaller than the second distance, and the difference between the first distance and the second distance is equal to 2x.

[0116] like Figure 18 As shown, since there is a phase difference between the magnetic resistances generated by the adjacent first unit group 121 and the second unit group 122, the magnetic resistances generated by the two adjacent unit groups arranged in the circumferential direction of the linear motor can cancel each other out, and ultimately the overall magnetic resistance of the linear motor is reduced.

[0117] in, Figure 18 The permanent magnet side 1 in FIG. 1 can be understood as the first unit group 121 , and the permanent magnet side 2 can be understood as the second unit group 122 .

[0118] In some embodiments, the difference in size of the permanent magnets corresponding to one end of the first unit group 121 and the second unit group 122 along the axial direction is a preset first value; the sum of the sizes of the permanent magnets corresponding to one end of the first unit group 121 and the second unit group 122 along the axial direction is a preset second value; the difference in size of the permanent magnets corresponding to the other end of the first unit group 121 and the second unit group 122 along the axial direction is a preset first value; the sum of the sizes of the permanent magnets corresponding to the other end of the first unit group 121 and the second unit group 122 along the axial direction is a preset second value; Figure 19 、 Figure 20 and Figure 21 As shown, the first value and the second value satisfy: 0≤x / w≤0.25.

[0119] In this embodiment, the first permanent magnet 101 can be understood as the permanent magnet of the first section of the first unit group 121, the second permanent magnet 102 and the third permanent magnet 103 can be understood as the permanent magnets of the middle two sections of the first unit group 121, the fourth permanent magnet 104 can be understood as the permanent magnet at the end of the first unit group 121, the fifth permanent magnet 105 can be understood as the permanent magnet of the first section of the second unit group 122, the sixth permanent magnet 106 and the seventh permanent magnet 107 can be understood as the permanent magnets of the middle two sections of the second unit group 122, and the eighth permanent magnet 108 can be understood as the permanent magnet at the end of the second unit group 122.

[0120] Among them, the size difference along the axial direction of the permanent magnets corresponding to the first sections in the adjacent first unit group 121 and the second unit group 122 arranged in the circumferential direction can be understood as the width difference between the first permanent magnet 101 and the fifth permanent magnet 105, and the size sum along the axial direction of the permanent magnets corresponding to the first sections between the first unit group 121 and the second unit group 122 can be understood as the width sum between the first permanent magnet 101 and the fifth permanent magnet 105.

[0121] Specifically, while ensuring that the dimensions of the first unit group 121 and the second unit group 122 along the axial direction remain unchanged, in order to realize the formation of a skew pole structure of the adjacent first unit group 121 and the second unit group 122, the dimension of the permanent magnet of the first section of the first unit group 121 along the axial direction can be increased by x, and the dimension of the permanent magnet of the last section of the first unit group 121 along the axial direction can be reduced by x, while the dimension of the permanent magnet of the first section of the second unit group 122 along the axial direction can be reduced by x, and the dimension of the permanent magnet of the last section of the second unit group 122 along the axial direction can be increased by x.

[0122] Furthermore, the first value can be understood as the difference 2x between the first spacing and the second spacing, and the second value can be understood as twice the size of the permanent magnet in the axial direction without any increase or decrease, which can be represented by 2w.

[0123] At the same time, there are symmetrical N poles and S poles on the edges of the first permanent magnet 101 and the third permanent magnet 103 in the first unit group 121, and there are symmetrical N poles and S poles on the edges of the fifth permanent magnet 105 and the seventh permanent magnet 107 in the second unit group 122.

[0124] Since the size of the first permanent magnet 101 in the axial direction increases, the size of the fifth permanent magnet 105 in the axial direction decreases. Figure 10 Symmetrical N-pole and S-pole, Figure 11 The pole pitch τ between the centrally symmetrical N and S poles is offset relative to the centerline by a certain distance, resulting in a phase difference between the reluctance forces generated by the permanent magnets in the adjacent first unit group 121 and the corresponding permanent magnets in the second unit group 122. The magnitude of this phase difference determines the amount of harmonic cancellation between the adjacent permanent magnets, which in turn affects the overall reluctance force reduction. Therefore, the increase or decrease in the axial size of the corresponding permanent magnets in the adjacent first unit group 121 and second unit group 122 determines the reduction in reluctance force.

[0125] for Figure 9 The permanent magnet group 120 shown in FIG. 1 may be formed by a first unit group 121 and a second unit group 122 arranged at intervals along the circumferential direction of the housing 110. The relationship between the increase and decrease in the axial size of the corresponding permanent magnets in the adjacent first unit group 121 and the second unit group 122 and the influence of the magnetic resistance, thrust fluctuation, and thrust of the linear motor can be referred to. Figure 19 、 Figure 20 and Figure 21 .

[0126] from Figure 19 、 Figure 20 and Figure 21It can be seen that the ratio between the increase or decrease in the axial dimension and the initial magnetic steel width is in the range of 0% to 25%, that is, the first value and the second value satisfy 0≤x / w≤0.25, thereby effectively reducing the magnetic resistance of the linear motor.

[0127] When x / w is 0.23, the linear motor's magnetic drag is minimized, reducing it to 50% compared to a linear motor without pole skewing. The corresponding thrust fluctuation is reduced to 60%, and the thrust is 95% of that of a linear motor without pole skewing. Preferably, to ensure that the thrust of the linear motor reaches 100% after two stages of pole skewing, x / w can be 0.2.

[0128] It can be seen from this that the difference in axial dimensions of the permanent magnets corresponding to one end of the first unit group 121 and the second unit group 122 is a preset first value; the sum of the axial dimensions of the permanent magnets corresponding to one end of the first unit group 121 and the second unit group 122 is a preset second value; the difference in axial dimensions of the permanent magnets corresponding to the other end of the first unit group 121 and the second unit group 122 is a preset first value; the sum of the axial dimensions of the permanent magnets corresponding to the other end of the first unit group 121 and the second unit group 122 is a preset second value; the relationship between the first value and the second value satisfies 0≤x / w≤0.25, that is, the ratio between the first value and the second value is greater than or equal to 0 and less than or equal to 0.25, which can offset most of the reluctance force harmonics. At the same time, when x / w is greater than 0.25, the reluctance force of the linear motor begins to increase.

[0129] It can be seen that when the ratio between the first value and the second value is greater than 0.25, the generated phase difference is insufficient to offset most of the reluctance force harmonics.

[0130] Among them, pole skewing is a method used in motor design, which aims to reduce the cogging torque and vibration noise by changing the structure of the motor's rotor or stator. It can weaken the tooth harmonics by staggering the motor's poles or teeth at a certain angle axially or radially, thereby reducing the vibration and noise during motor operation, thereby improving the performance and stability of the motor.

[0131] In some embodiments, as Figure 12 As shown, the permanent magnet group 120 includes three adjacent unit groups, namely a first unit group 121 , a second unit group 122 and a third unit group 123 ; wherein the first unit group 121 , the second unit group 122 and the third unit group 123 are arranged at intervals along the circumferential direction of the shell 110 .

[0132] In this embodiment, the first unit group 121, the second unit group 122 and the third unit group 123 can be arranged at intervals along the circumferential direction of the shell 110, and the dimensions of at least one corresponding permanent magnet in any two adjacent unit groups among the three adjacent unit groups can be different in the axial direction to form a skewed pole structure, which can be understood as three sections of skewed poles, which can also reduce the overall magnetic resistance of the linear motor as a whole, and can effectively reduce the thrust fluctuation and thrust harmonic content of the linear motor, and effectively suppress the end effect and tooth effect of the linear motor.

[0133] In some embodiments, as Figure 12 and Figure 14 As shown, at least one corresponding permanent magnet in the adjacent third unit group 123 and the first unit group 121 has different sizes along the axial direction; at least one corresponding permanent magnet in the adjacent third unit group 123 and the second unit group 122 has different sizes along the axial direction.

[0134] In this embodiment, at least one corresponding permanent magnet in the adjacent third unit group 123 and the first unit group 121 has different sizes in the axial direction to form a skewed pole structure; at least one corresponding permanent magnet in the adjacent third unit group 123 and the second unit group 122 has different sizes in the axial direction to form a skewed pole structure, so that the centers of the adjacent three-sided magnetic poles are symmetrically staggered by a certain distance in the center position, thereby reducing the overall magnetic resistance of the linear motor 1 as a whole, effectively reducing the thrust fluctuation and thrust harmonic content of the linear motor, and effectively suppressing the end effect and tooth effect of the linear motor.

[0135] In some embodiments, as Figure 14 As shown, the third unit group 123 is disposed between the first unit group 121 and the second unit group 122 .

[0136] In this embodiment, the number of permanent magnets in the first unit group 121, the second unit group 122 and the third unit group 123 is equal. While the third unit group 123 and the adjacent first unit group 121 form a skewed pole structure, the third unit group 123 and the adjacent second unit group 122 form a skewed pole junction, so that the centers of the adjacent three-sided magnetic poles are symmetrically staggered at a certain distance in the center position, thereby reducing the overall magnetic resistance of the linear motor as a whole, effectively reducing the thrust fluctuation and thrust harmonic content of the linear motor, and effectively suppressing the end effect and tooth effect of the linear motor.

[0137] In some embodiments, the width of the first cell group 121 , the width of the second cell group 122 , and the size of the third cell group 123 along the axial direction are the same.

[0138] Specifically, the number of permanent magnets in the first unit group 121, the second unit group 122 and the third unit group 123 is equal, the permanent magnets corresponding to the first sections in the first unit group 121 and the second unit group 122 have different sizes in the axial direction, and the permanent magnets corresponding to the last sections in the first unit group 121 and the second unit group 122 have different sizes in the axial direction; the permanent magnets corresponding to the two middle sections in the first unit group 121 and the second unit group 122 have the same sizes in the axial direction, and are equal to the sizes in the axial direction of the permanent magnets corresponding to each permanent magnet in the third unit group 123, so that the magnetic resistances of each three adjacent surfaces can offset each other, so that the overall magnetic resistance of the linear motor is reduced, and the thrust fluctuation and thrust harmonic content of the linear motor can be effectively reduced, and the end effect and cogging effect of the linear motor can be effectively suppressed.

[0139] In some embodiments, as Figure 14 As shown, at least two corresponding permanent magnets in the third unit group 123 and the first unit group 121 have different sizes along the axial direction; at least two corresponding permanent magnets in the third unit group 123 and the second unit group have different sizes along the axial direction.

[0140] In this embodiment, the first unit group 121, the second unit group 122 and the third unit group 123 are segmented to form multiple permanent magnets, and the permanent magnets in the first unit group 121, the second unit group 122 and the third unit group 123 are each arranged in a linear Halbach array along the axial direction.

[0141] In order to reduce the electromagnetic resistance of the linear motor, the present application can set the dimensions of each permanent magnet in the third unit group 123 along the axial direction to be the same; and increase or decrease the dimensions of some permanent magnets in the first unit group 121 and the second unit group 122 along the axial direction compared to the dimensions of the permanent magnets in the third unit group 123 along the axial direction, so as to form a skewed pole structure between the third unit group 123 and the first unit group 121, and a skewed pole structure between the third unit group 123 and the second unit group 122.

[0142] Among them, when increasing or decreasing the size of some permanent magnets in the first unit group 121 and the second unit group 122 along the axial direction, it is necessary to set the size of the first unit group 121, the second unit group 122 and the third unit group 123 along the axial direction to be the same, and then the size of at least two corresponding permanent magnets in the first unit group 121 and the second unit group 122 along the axial direction can be increased or decreased.

[0143] In some embodiments, as Figure 12 and Figure 14As shown, the permanent magnets corresponding to one end of the third unit group 123 and the first unit group 121 have different sizes along the axial direction, and the permanent magnets corresponding to the other end of the third unit group 123 and the first unit group 121 have different sizes along the axial direction; the permanent magnets corresponding to one end of the third unit group 123 and the second unit group 122 have different sizes along the axial direction, and the permanent magnets corresponding to the other end of the third unit group 123 and the second unit group 122 have different sizes along the axial direction.

[0144] In this embodiment, the first unit group 121, the second unit group 122 and the third unit group 123 include the same number of permanent magnets, and one end and the other end of the first unit group 121, the second unit group 122 and the third unit group 123 can be understood as the corresponding two ends of the first unit group 121, the second unit group 122 and the third unit group 123.

[0145] The first unit group 121 can be segmented into four permanent magnets, namely the first permanent magnet 101, the second permanent magnet 102, the third permanent magnet 103 and the fourth permanent magnet 104. The first permanent magnet 101, the second permanent magnet 102, the third permanent magnet 103 and the fourth permanent magnet 104 can be arranged in a linear Halbach array.

[0146] Among them, the first permanent magnet 101 can be understood as the permanent magnet at the first section of the first unit group 121, the second permanent magnet 102 and the third permanent magnet 103 can be understood as the permanent magnets at the middle two sections of the first unit group 121, and the fourth permanent magnet 104 can be understood as the permanent magnet at the end of the first unit group 121.

[0147] The second unit group 122 can be segmented into multiple permanent magnets, such as segmented into four permanent magnets, namely the fifth permanent magnet 105, the sixth permanent magnet 106, the seventh permanent magnet 107 and the eighth permanent magnet 108. The fifth permanent magnet 105, the sixth permanent magnet 106, the seventh permanent magnet 107 and the eighth permanent magnet 108 can be arranged in a linear Halbach array.

[0148] Among them, the fifth permanent magnet 105 can be understood as the permanent magnet at the first section of the second unit group 122, the sixth permanent magnet 106 and the seventh permanent magnet 107 can be understood as the permanent magnets at the middle two sections of the second unit group 122, and the eighth permanent magnet 108 can be understood as the permanent magnet at the end of the second unit group 122.

[0149] The third unit group 123 can be segmented into four permanent magnets, namely the ninth permanent magnet 109, the tenth permanent magnet, the eleventh permanent magnet, and the twelfth permanent magnet. The ninth permanent magnet 109, the tenth permanent magnet, the eleventh permanent magnet, and the twelfth permanent magnet can be arranged in a linear Halbach array. Among them, the ninth permanent magnet 109 can be understood as the permanent magnet at the beginning of the third unit group 123, the tenth permanent magnet and the eleventh permanent magnet can be understood as the permanent magnets in the middle two sections of the third unit group 123, and the twelfth permanent magnet can be understood as the permanent magnet at the end of the third unit group 123.

[0150] In addition, the first permanent magnet 101 corresponds to the fifth permanent magnet 105 and the ninth permanent magnet 109 respectively and has the same magnetic poles, the second permanent magnet 102 corresponds to the sixth permanent magnet 106 and the tenth permanent magnet respectively and has the same magnetic poles, the third permanent magnet 103 corresponds to the seventh permanent magnet 107 and the eleventh permanent magnet respectively and has the same magnetic poles, and the fourth permanent magnet 104 corresponds to the eighth permanent magnet 108 and the twelfth permanent magnet respectively and has the same magnetic poles.

[0151] like Figure 13 As shown, when the oblique pole structure is not formed between the first unit group 121, the second unit group 122 and the third unit group 123, the first permanent magnet 101, the second permanent magnet 102, the third permanent magnet 103, the fourth permanent magnet 104, the fifth permanent magnet 105, the sixth permanent magnet 106, the seventh permanent magnet 107 and the eighth permanent magnet 108, the fifth permanent magnet 105, the sixth permanent magnet 106, the seventh permanent magnet 107, the eighth permanent magnet 108, the ninth permanent magnet 109, the tenth permanent magnet, the eleventh permanent magnet and the twelfth permanent magnet, and the ninth permanent magnet 109, the tenth permanent magnet, the eleventh permanent magnet and the twelfth permanent magnet have the same size in the axial direction.

[0152] Specifically, in order to realize the formation of an oblique pole structure between the third unit group 123 and the first unit group 121, and the formation of an oblique pole structure between the third unit group 123 and the second unit group 122, the sizes of the first permanent magnet 101, the fourth permanent magnet 104, the fifth permanent magnet 105 and the eighth permanent magnet 108 in the axial direction can be increased or decreased on the basis that the sizes of the first unit group 121, the second unit group 122 and the third unit group 123 in the axial direction are the same and the sizes of each permanent magnet in the third unit group 123 in the axial direction are the same. Specifically, the sizes of the first permanent magnet 101 and the eighth permanent magnet 108 in the axial direction can be increased or decreased, and By reducing the size of the fourth permanent magnet 104 and the fifth permanent magnet 105 in the axial direction, an oblique pole structure can be formed between the first unit group 121 and the third unit group 123, and an oblique pole structure can be formed between the second unit group 122 and the third unit group 123, so that there is a phase difference between the magnetic resistance generated by the first unit group 121, the magnetic resistance generated by the third unit group 123 adjacent to the first unit group 121, and the magnetic resistance generated by the second unit group 122 adjacent to the third unit group 123, so that the magnetic resistances generated by adjacent unit groups of the linear motor can offset each other, and ultimately the overall magnetic resistance of the linear motor is reduced.

[0153] In some embodiments, as Figure 14 As shown, the dimensions of each segment of the permanent magnet in the third unit group 123 along the axial direction are the same, the spacing between the permanent magnet at one end of the first unit group 121 and the centering line of the first unit group 121 is equal to the spacing between the permanent magnet at the other end of the second unit group 122 and the centering line of the first unit group 121; the spacing between the permanent magnet at the other end of the first unit group 121 and the centering line of the first unit group 121 is equal to the spacing between the permanent magnet at one end of the second unit group 122 and the centering line of the first unit group 121; the spacing between the permanent magnet at one end of the first unit group 121 and the centering line of the second unit group 122 is equal to the spacing between the permanent magnet at the other end of the second unit group 122 and the centering line of the second unit group 121. the spacing between the centering lines of the groups 122; the spacing between the permanent magnet in the other end of the first unit group 121 and the centering line of the second unit group 122 is equal to the spacing between the permanent magnet in one end of the second unit group 122 and the centering line of the second unit group 122; the spacing between the permanent magnet at one end of the first unit group 121 and the centering line of the third unit group 123 is equal to the spacing between the permanent magnet in the other end of the second unit group 122 and the centering line of the third unit group 123; the spacing between the permanent magnet in the other end of the first unit group 121 and the centering line of the third unit group 123 is equal to the spacing between the permanent magnet in one end of the second unit group 122 and the centering line of the third unit group 123.

[0154] In this embodiment, the centering lines of the first unit group 121, the second unit group 122, and the third unit group 123 coincide. In order to reduce the electromagnetic resistance of the linear motor, the present application may also set the dimensions of each permanent magnet in the third unit group 123 along the axial direction to be the same; and increase or decrease the dimensions of some permanent magnets in the first unit group 121 and the second unit group 122 along the axial direction compared to the dimensions of the permanent magnets in the third unit group 123 along the axial direction, so as to form a skewed pole structure between the third unit group 123 and the first unit group 121, and a skewed pole structure between the third unit group 123 and the second unit group 122.

[0155] Among them, when increasing or decreasing the size of some permanent magnets in the first unit group 121 and the second unit group 122 along the axial direction, it is necessary to set the size of the first unit group 121, the second unit group 122 and the third unit group 123 along the axial direction to be the same, and then the size of at least two corresponding permanent magnets in the first unit group 121 and the second unit group 122 along the axial direction needs to be increased or decreased.

[0156] In some embodiments, the third unit group 123 is arranged between the first unit group 121 and the second unit group and has equal dimensions in the axial direction. The permanent magnets corresponding to one end of the first unit group 121 and the second unit group 122 have a dimension difference in the axial direction of a preset first value, and the permanent magnets corresponding to one end of the first unit group 121 and the second unit group 122 have a dimension sum in the axial direction of a preset second value; the permanent magnets corresponding to the other end of the first unit group 121 and the second unit group have a dimension difference in the axial direction of a preset first value, and the permanent magnets corresponding to the other end of the first unit group 121 and the second unit group 122 have a dimension sum in the axial direction of a preset second value; as Figure 22 、 Figure 23 and Figure 24 As shown, the first value and the second value satisfy: 0≤x / w≤0.4.

[0157] In this embodiment, the first permanent magnet 101 can be understood as the permanent magnet of the first section of the first unit group 121, the second permanent magnet 102 and the third permanent magnet 103 can be understood as the permanent magnets of the two middle sections of the first unit group 121, the fourth permanent magnet 104 can be understood as the permanent magnet at the end of the first unit group 121, the fifth permanent magnet 105 can be understood as the permanent magnet of the first section of the second unit group 122, the sixth permanent magnet 106 and the seventh permanent magnet 107 can be understood as the permanent magnets of the two middle sections of the second unit group 122, and the fourth permanent magnet 104 can be understood as the permanent magnet at the end of the first unit group 121. The eighth permanent magnet 108 can be understood as the permanent magnet at the end of the second unit group 122, the ninth permanent magnet 109 can be understood as the permanent magnet at the first section of the third unit group 123, the tenth permanent magnet and the eleventh permanent magnet can be understood as the permanent magnets in the two middle sections of the third unit group 123, and the twelfth permanent magnet can be understood as the permanent magnet at the end of the third unit group 123. The ninth permanent magnet 109, the tenth permanent magnet, the eleventh permanent magnet and the twelfth permanent magnet have the same size in the axial direction and can all be characterized by the ninth permanent magnet 109.

[0158] Among them, the size difference along the axial direction of the permanent magnets corresponding to the first sections in the adjacent first unit group 121 and the second unit group 122 arranged in the circumferential direction can be understood as the width difference between the first permanent magnet 101 and the fifth permanent magnet 105, and the size sum along the axial direction of the permanent magnets corresponding to the first sections between the first unit group 121 and the second unit group 122 can be understood as the width sum between the first permanent magnet 101 and the fifth permanent magnet 105.

[0159] Specifically, while ensuring that the dimensions of the first unit group 121, the second unit group 122 and the third unit group 123 along the axial direction remain unchanged, in order to achieve the formation of a skew pole structure between the adjacent first unit group 121 and the third unit group 123, and between the third unit group 123 and the second unit group 122, the dimensions of the permanent magnets in the first section of the first unit group 121 along the axial direction can be increased by x, and the dimensions of the permanent magnets in the last section of the first unit group 121 along the axial direction can be reduced by x, while the dimensions of the permanent magnets in the first section of the second unit group 122 along the axial direction can be reduced by x, and the dimensions of the permanent magnets in the last section of the second unit group 122 along the axial direction can be increased by x.

[0160] Furthermore, the first value can be understood as the difference 2x between the first spacing and the second spacing, and the second value can be understood as twice the size of the permanent magnet in the axial direction without any increase or decrease, which can be represented by 2w.

[0161] At the same time, there are symmetrical N poles and S poles on the edges of the first permanent magnet 101 and the third permanent magnet 103 in the first unit group 121, there are symmetrical N poles and S poles on the edges of the fifth permanent magnet 105 and the seventh permanent magnet 107 in the second unit group 122, and there are symmetrical N poles and S poles on the edges of the ninth permanent magnet 109 and the eleventh permanent magnet in the third unit group 123.

[0162] Since the size of the first permanent magnet 101 in the axial direction increases, the size of the fifth permanent magnet 105 in the axial direction decreases. Figure 13 Symmetrical N-pole and S-pole, Figure 14 The pole pitch τ between the centrally symmetrical N and S poles is offset by a certain distance relative to the centerline. This creates a phase difference between the reluctance force generated by the first unit group 121, the reluctance force generated by the third unit group 123 adjacent to the first unit group 121, and the reluctance force generated by the second unit group 122 adjacent to the third unit group 123. The magnitude of this phase difference determines the amount of harmonic cancellation between the adjacent permanent magnets, which in turn affects the overall reluctance force reduction effect. Therefore, the increase or decrease in the axial size of the corresponding permanent magnets in the first unit group 121 and the second unit group 122 determines the reduction in reluctance force.

[0163] for Figure 12 The permanent magnet group 120 shown in FIG. 1 may be formed by a first unit group 121, a third unit group 123, and a second unit group 122 arranged at intervals along the circumferential direction of the housing 110. The relationship between the increase and decrease in the axial size of the corresponding permanent magnets in the first unit group 121 and the second unit group 122 and the influence of the magnetic resistance, thrust fluctuation, and thrust of the linear motor 1 can be referred to. Figure 22 、 Figure 23 and Figure 24 .

[0164] from Figure 22 、 Figure 23 and Figure 24 It can be seen that the ratio between the increase or decrease in the axial dimension and the initial magnetic steel width is in the range of 0% to 40%, that is, the first value and the second value satisfy 0≤x / w≤0.4, thereby effectively reducing the magnetic resistance.

[0165] When x / w is 0.32, the linear motor's magnetic drag is minimized, reducing it to 46% compared to a linear motor without pole skewing. The corresponding thrust fluctuation is reduced to 52%, and the thrust is 94% of that of a linear motor without pole skewing. Preferably, to ensure that the thrust of a linear motor with three-stage pole skewing reaches 100%, x / w can be set to 0.3.

[0166] It can be seen from this that on the basis of adding the third unit group 123, the size difference along the axial direction of the permanent magnets corresponding to the first sections in the first unit group 121 and the second unit group 122 is a preset first value, the sum of the sizes along the axial direction of the permanent magnets corresponding to the first sections in the first unit group 121 and the second unit group 122 is a preset second value, the size difference along the axial direction of the permanent magnets corresponding to the last sections in the first unit group 121 and the second unit group 122 is a preset first value, the sum of the sizes along the axial direction of the permanent magnets corresponding to the last sections in the first unit group 121 and the second unit group 122 is a preset second value, and the first value and the second value satisfy 0≤x / w≤0.4, that is, the ratio between the first value and the second value is greater than or equal to 0 and less than or equal to 0.4, which can offset most of the magnetic resistance harmonics. When x / w is greater than 0.32, the magnetic resistance begins to increase.

[0167] It can be seen that when the ratio between the first value and the second value is greater than 0.4, the generated phase difference is insufficient to offset most of the reluctance force harmonics.

[0168] Furthermore, the first unit group 121, the second unit group 122 and the third unit group 123 can be arranged at intervals along the circumferential direction of the shell 110, and the dimensions of at least one corresponding permanent magnet in any two adjacent unit groups among the three adjacent unit groups can be different in the axial direction to form a skewed pole structure, which can further reduce the magnetic resistance and thrust fluctuation of the linear motor compared to the skewed pole structure formed between the adjacent first unit group 121 and the second unit group 122.

[0169] Therefore, the first unit group 121, the second unit group 122 and the third unit group can be arranged at intervals along the circumferential direction of the shell 110, and the dimensions of at least one corresponding permanent magnet in any two adjacent unit groups among the three adjacent unit groups can be different in the axial direction to form a skewed pole structure, which can be more beneficial to the reduction of magnetic resistance and thrust fluctuations.

[0170] In some embodiments, at least one corresponding permanent magnet in the first unit group 121 and the third unit group 123 has the same size in the axial direction; at least one corresponding permanent magnet in the second unit group 122 and the third unit group 123 has the same size in the axial direction.

[0171] Specifically, the centering lines of the first unit group 121, the second unit group 122, and the third unit group 123 coincide with each other. In the present application, the sizes of the first permanent magnet 101, the fourth permanent magnet 104, the fifth permanent magnet 105, and the eighth permanent magnet 108 in the axial direction can be increased or decreased based on the fact that the first unit group 121 and the second unit group 122 have the same axial dimensions, and the sizes of each permanent magnet segment in the third unit group 123 have the same axial dimensions.

[0172] Specifically, the dimension of the first permanent magnet 101 along the axial direction can be offset to the right relative to the centering line of the first unit group 121 or the second unit group 122 or the third unit group 123, so that the distance between the first permanent magnet 101 and the centering line is the first distance; the dimension of the eighth permanent magnet 108 along the axial direction can be offset to the left relative to the centering line of the first unit group 121 or the second unit group 122 or the third unit group 123, so that the distance between the eighth permanent magnet 108 and the centering line is the first distance, that is, the dimensions of the first permanent magnet 101 and the eighth permanent magnet 108 along the axial direction are increased to w+x.

[0173] At the same time, the size of the fourth permanent magnet 104 along the axial direction is offset to the right relative to the centering line of the first unit group 121 or the second unit group 122 or the third unit group 123, so that the distance between the fourth permanent magnet 104 and the centering line is the second distance; and the size of the fifth permanent magnet 105 along the axial direction is offset to the left relative to the centering line of the first unit group 121 or the second unit group 122 or the third unit group 123, so that the distance between the fifth permanent magnet 105 and the centering line is the second distance, that is, the size of the fourth permanent magnet 104 and the fifth permanent magnet 105 along the axial direction is reduced to wx, thereby forming a skew pole structure between the adjacent first unit group 121, the third unit group 123 and the second unit group 122 arranged in the circumferential direction.

[0174] In some embodiments, the first unit group 121, the second unit group 122, and the third unit group 123 include one or more of neodymium, iron, and boron.

[0175] In some embodiments, the motor 1 further includes a second component 20, which includes a stator core 210; the length of the stator core 210 in the axial direction is (k±a) times the pole pitch of the first component 10, where k is a positive integer, 0≤a≤1.

[0176] Specifically, the side force mentioned in this application is a periodic function of the first component 10, that is, the pole pitch of the mover. While ensuring that the pole pitch of the mover remains unchanged, this application can be achieved by changing the tooth width of the side teeth of the stator core 210, so that the length of the stator core 210 is (k±a) times the pole pitch of the first component 10, thereby making the side forces at both ends of the stator cancel each other out. Wherein, k is a positive integer, 0≤a≤1. Preferably, a can be 0.5.

[0177] The air gap is the space between the mover and stator in a linear motor. This gap is crucial to the proper functioning of a linear motor. It allows the mover and stator to rotate freely in the magnetic field without physical contact or friction, thus reducing wear and ensuring smooth motor operation. Therefore, the size of the air gap directly affects the motor's performance, including efficiency, power factor, noise, and vibration.

[0178] If the air gap is too large, the magnetic resistance may increase, requiring a larger excitation current, reducing the power factor and increasing additional losses; if the air gap is too small, it may cause assembly difficulties, unsafe operation, and even friction or collision between the mover and stator, affecting the life and reliability of the linear motor.

[0179] In some embodiments, as Figure 6 、 Figure 7 and Figure 8 As shown, the stator core 210 is provided with an accommodating slot 201 for accommodating the winding.

[0180] In this embodiment, a plurality of accommodating slots 201 for accommodating windings are distributed in the axial direction of the stator core 210, and a plurality of coils are evenly arranged in the accommodating slots 201. The connecting wire can connect the coils of one phase distributed in different slots in series, and one end can be connected to the wires of other phases, and the other end can be led out from the outlet slot to connect to the controller.

[0181] In some embodiments, the width of the accommodating slot 201 along the axial direction is n times the ratio of the length of the stator core 210 along the axial direction to the number of slots of the accommodating slot 201, 0.3≤n≤0.7; the depth of the accommodating slot 201 is m times the ratio of the outer diameter to the inner diameter of the stator core 210, 0.65≤m≤0.85.

[0182] In this embodiment, the number of receiving slots 201 of the stator core 210 depends on the pole slots selected for the linear motor 1. Therefore, the axial width of the receiving slots 201 can be n times the ratio of the axial length of the stator core 210 to the number of slots 201, with 0.3 ≤ n ≤ 0.7. Simultaneously, the depth of the receiving slots 201 can be m times the ratio of the outer diameter to the inner diameter of the stator core 210, with 0.65 ≤ m ≤ 0.85.

[0183] In some embodiments, the air gap between the first component 10 and the second component 20 may be between 0.5 and 2 mm, and the stator core 210 may include one or more of magnetic conductive steel and silicon steel sheets.

[0184] In some embodiments, the winding includes an armature winding 220. Specifically, the coils in the receiving slots 201 are connected to form the armature winding 220.

[0185] In some embodiments, as Figure 4 and Figure 6 As shown, the permanent magnet group 120, the stator core 210, and the winding 220 are all disposed in the housing 110. Specifically, the housing 110 can be a housing of the linear motor, which can serve as a part of the mover. The housing 110 can be understood as the mover core of the mover.

[0186] In some embodiments, the motor is a cylindrical linear motor or a polyhedron linear motor. Specifically, the circumferential surface of the polyhedron linear motor 1 can be a regular quadrilateral, a regular hexagon, a regular octagon, a regular decagon, etc.

[0187] In some embodiments, the axial shape of the polyhedral linear motor is a regular N-gon; N is an even number and is greater than or equal to 6.

[0188] In this embodiment, a polyhedron is a closed geometric body surrounded by multiple planar polygons. For example, a hexahedral linear motor actually includes four side surfaces surrounding the stator and two end surfaces in the moving direction of the linear motor 1 .

[0189] Specifically, in order to ensure that an oblique pole structure is formed between the first unit group 121 and the second unit group 122, if the motor 1 is a polyhedral linear motor, the motor 1 has at least four side surfaces surrounding the stator, two side surfaces corresponding to the two first unit groups 121, and the other two side surfaces corresponding to the two second unit groups 122.

[0190] In some embodiments, the number of skewed pole segments of the permanent magnet group 120 is a common divisor of N-2.

[0191] Specifically, the number of skewed pole segments of the permanent magnet group 120 can be understood as the number of segments in which the magnetic poles of two adjacent permanent magnets in the permanent magnet group 120 are misaligned, that is, the number of unit groups arranged in a spaced relationship along the circumferential direction of the shell, and one skewed pole segment corresponds to a pair of unit groups. For example, the permanent magnet group 120 includes three first unit groups 121 and three second unit groups 122, which can form an annular hexagon after being spaced around the stator core 210. In this case, the number of skewed pole segments of the permanent magnet group 120 can be equal to 2, namely, the first unit group 121 and the second unit group 122; if the permanent magnet group 120 includes two first unit groups 121, two second unit groups 122 and two third unit groups 123, which can form an annular hexagon after being spaced around the stator core 210, the number of skewed pole segments of the permanent magnet group 120 can be equal to 3, namely, the first unit group 121, the second unit group 122 and the third unit group 123. Therefore, the number of skew pole segments of the permanent magnet group 120 provided in the present application may be a common divisor of N-2.

[0192] In some embodiments, the present application also provides a motor servo system, which includes the motor provided by the present application.

[0193] In some embodiments, the present application also provides a suspension system, which includes the motor 1 provided in the present application, or the motor servo system provided in the present application.

[0194] In some embodiments, the present application also provides a car, which includes the motor provided by the present application, or the motor servo system provided by the present application, or the suspension system provided by the present application.

[0195] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A motor (1), comprising a first component (10), characterized in that: The first component (10) comprises: Housing (110); A plurality of permanent magnet groups (120), wherein the plurality of permanent magnet groups (120) are arranged at intervals along the circumferential direction of the housing (110), and each of the permanent magnet groups (120) includes a plurality of permanent magnets and forms a Halbach array along the axial direction of the housing (110); At least one permanent magnet in each permanent magnet group (120) has a different size along the axial direction from an adjacent permanent magnet in an adjacent permanent magnet group (120).

2. The electric motor (1) according to claim 1, characterized in that Each of the permanent magnet groups (120) includes a plurality of unit groups, each of which includes a plurality of permanent magnets, and two adjacent unit groups along the circumferential direction respectively include a first unit group (121) and a second unit group (122); The first unit group (121) and the second unit group (122) have the same size along the axial direction.

3. The electric motor (1) according to claim 2, characterized in that At least one permanent magnet in the first unit group (121) and its corresponding permanent magnet in the second unit group (122) have different dimensions along the axial direction.

4. The electric motor (1) according to claim 3, characterized in that The permanent magnets corresponding to one end of the first unit group (121) and the second unit group (122) have different sizes along the axial direction; the permanent magnets corresponding to the other end of the first unit group (121) and the second unit group (122) have different sizes along the axial direction.

5. The electric motor (1) according to claim 4, characterized in that The size difference of the permanent magnets corresponding to one end of the first unit group (121) and the second unit group (122) along the axial direction is a preset first value 2x, and the size sum of the permanent magnets corresponding to one end of the first unit group (121) and the second unit group (122) along the axial direction is a preset second value 2w, and the first value and the second value satisfy the following: 0≤x / w≤0.25; or / and, The difference in size along the axial direction between the permanent magnets corresponding to the other ends of the first unit group (121) and the second unit group (122) is a preset first value 2x, and the sum of the sizes along the axial direction between the permanent magnets corresponding to the other ends of the first unit group (121) and the second unit group (122) is a preset second value 2w, and the first value and the second value satisfy the following relationship: 0≤x / w≤0.

25.

6. The electric motor (1) according to claim 5, characterized in that The first value and the second value satisfy: x / w=0.

2.

7. The electric motor (1) according to claim 2, characterized in that The permanent magnet group (120) includes three adjacent unit groups, respectively including the first unit group (121), the second unit group (122), and the third unit group (123); The first unit group (121), the second unit group (122), and the third unit group (123) are arranged at intervals along the circumferential direction of the shell (110).

8. The electric motor (1) according to claim 7, characterized in that The permanent magnets corresponding to at least one of the adjacent third unit group (123) and the first unit group (121) have different sizes along the axial direction; or / and, At least one permanent magnet corresponding to the adjacent third unit group (123) and the second unit group (122) has different sizes along the axial direction.

9. The electric motor (1) according to claim 7, characterized in that The third unit group (123) is provided between the first unit group (121) and the second unit group (122).

10. The electric motor (1) according to claim 7, characterized in that The first unit group (121), the second unit group (122), and the third unit group (123) have the same size along the axial direction.

11. The electric machine (1) according to claim 10, characterized in that At least two corresponding permanent magnets in the third unit group (123) and the first unit group (121) have different sizes along the axial direction; or / and, At least two corresponding permanent magnets in the third unit group (123) and the second unit group (122) have different sizes along the axial direction.

12. The electric machine (1) according to claim 11, characterized in that The permanent magnets corresponding to one end of the third unit group (123) and the first unit group (121) have different sizes along the axial direction, and the permanent magnets corresponding to the other end of the third unit group (123) and the first unit group (121) have different sizes along the axial direction; or / and, The permanent magnets corresponding to one end of the third unit group (123) and the second unit group (122) have different sizes along the axial direction, and the permanent magnets corresponding to the other end of the third unit group (123) and the second unit group (122) have different sizes along the axial direction.

13. The electric machine (1) according to claim 12, characterized in that The permanent magnets in the third unit group (123) have the same size along the axial direction.

14. The electric machine (1) according to claim 13, characterized in that The size difference of the permanent magnets corresponding to one end of the first unit group (121) and the second unit group (122) along the axial direction is a preset first value 2x, and the size sum of the permanent magnets corresponding to one end of the first unit group (121) and the second unit group (122) along the axial direction is a preset second value 2w, and the first value and the second value satisfy the following: greater than 0≤x / w≤0.4; or / and, The difference in size of the permanent magnets corresponding to the other ends of the first unit group (121) and the second unit group (122) along the axial direction is a preset first value 2x, and the sum of the sizes of the permanent magnets corresponding to the other ends of the first unit group (121) and the second unit group (122) along the axial direction is a preset second value 2w, and the first value and the second value satisfy the following relationship: 0≤x / w≤0.

4.

15. The electric machine (1) according to claim 14, characterized in that The first value and the second value satisfy: x / w=0.

3.

16. The electric machine (1) according to claim 12, characterized in that At least one corresponding permanent magnet in the first unit group (121) and the third unit group (123) has the same size along the axial direction; or / and, At least one corresponding permanent magnet in the second unit group (122) and the third unit group (123) has the same size along the axial direction.

17. The electric machine (1) according to claim 1, characterized in that The motor (1) further comprises a second component (20), wherein the second component (20) comprises a stator core (210); The length of the stator core (210) along the axial direction is (k±a) times the pole pitch of the first component (10), where k is a positive integer and 0≤a≤1.

18. The electric machine (1) according to claim 17, characterized in that The stator core (210) is provided with an accommodating slot (201) for accommodating the winding; The width of the accommodating slot (201) along the axial direction is n times the ratio of the length of the stator core (210) along the axial direction to the number of slots of the accommodating slot (201), 0.3≤n≤0.

7.

19. The electric machine (1) according to claim 18, characterized in that The depth of the accommodating groove (201) is m times the ratio between the outer diameter and the inner diameter of the stator core (210), and 0.65≤m≤0.

85.

20. The electric machine (1) according to claim 17, characterized in that An air gap between the first component (10) and the second component (20) is greater than or equal to 0.5 mm and less than or equal to 2 mm.

21. The electric machine (1) according to any one of claims 1 to 20, characterized in that The motor (1) is a cylindrical linear motor or a polyhedral linear motor.

22. The electric machine (1) according to claim 21, characterized in that The axial shape of the polyhedron linear motor is a regular N-gon; N is an even number and is greater than or equal to 6.

23. The electric machine (1) according to claim 22, characterized in that The number of oblique pole segments of the permanent magnet group (120) is a common divisor of N-2.

24. A motor servo system, characterized in that: The invention comprises the motor (1) according to any one of claims 1 to 23.

25. A suspension system, characterized in that: The invention comprises the motor (1) according to any one of claims 1 to 23, or the motor servo system according to claim 24.

26. An automobile, characterized in that: It comprises the motor (1) according to any one of claims 1 to 23, or the motor servo system according to claim 24, or the suspension system according to claim 25.

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