Motor magnetic suspension positioning device for low-altitude manned electric vertical take-off and landing aircraft

Abstract

The invention aims to provide a motor magnetic suspension positioning device for a low-altitude manned electric vertical take-off and landing aircraft. The motor magnetic suspension positioning device comprises a shell; the double-suspension mechanism comprises a stator shaft, a rotor shaft, a stator, a rotor, an electromagnetic assembly and a magnetic assembly. The sealing waterproof mechanism plays a sealing role; the control system is used for controlling operation of the motor magnetic suspension positioning device and comprises a sensor group used for collecting attitude data and acceleration data of a rotor and gap data between the rotor and a stator in real time; the controller is in communication connection with the motor driving module through a CAN bus and is used for receiving and processing data acquired by the sensor group; the motor driving module is electrically connected with the current adjusting module and is used for driving the double-suspension mechanism to generate suspension force; the current adjusting module is in signal connection with the controller and is used for adjusting the output current according to the control instruction; and the power module is independently powered by an aircraft main battery.

Description

Technical Field

[0001] The invention relates to a suspension positioning device, in particular to a motor magnetic suspension positioning device for a low-altitude manned electric vertical take-off and landing aircraft. Background Art

[0002] As an emerging means of transportation, the performance of the propulsion system of low-altitude manned aircraft directly impacts the aircraft's reliability, energy efficiency, and safety. Currently, most propeller-driven motors still use traditional mechanical bearings to connect the stator and rotor, relying on physical contact to transmit power. Although this technology is highly mature, it suffers from numerous inherent drawbacks, making it difficult to meet the long-endurance, high-maneuverability, and low-maintenance requirements of modern aircraft. First, mechanical bearings generate significant frictional resistance during operation, leading to energy loss and reduced motor efficiency, which in turn affects the aircraft's endurance. Furthermore, complex operating conditions such as frequent starts and stops and rapid changes in pitch angle increase bearing wear, significantly shortening their service life and necessitating regular maintenance or even replacement, increasing operating costs. More seriously, sudden bearing failure can result in power interruption, threatening flight safety—a significant risk for manned aircraft.

[0003] In order to solve the limitations of bearing technology, magnetic levitation solutions are considered as an alternative. However, existing magnetic levitation technology still has obvious shortcomings. For example, some solutions only achieve radial suspension, but lack axial suspension capabilities, resulting in the rotor contacting and colliding with the stator due to axial thrust offset when the aircraft climbs or dives. Other solutions use passive magnetic levitation design with a fixed magnetic field distribution. It is impossible to adjust the suspension force in real time according to the flight load or external disturbances, which can easily cause rotor instability when the load changes or encounters airflow impact. In addition, some magnetic levitation systems still rely on auxiliary bearings as a protective measure and fail to completely eliminate mechanical contact, and friction problems still exist. More importantly, most existing magnetic levitation systems do not have dynamic adjustment capabilities. When the aircraft switches between vertical take-off and landing and horizontal cruising modes, it is impossible to adaptively adjust the suspension parameters, resulting in increased vibration or unstable flight attitude.

[0004] In addition to the inherent flaws of suspension technology, existing drive motor sealing and protection designs also have shortcomings. While traditional sealing methods (such as rubber seals or mechanical seals) effectively block external dust and moisture, direct contact with the rotating shaft creates additional frictional losses, reducing system efficiency. Non-contact seals (such as labyrinth seals) reduce friction, but improper clearance design can lead to seal failure, rendering them ineffective in humid or dusty environments. This can cause internal short circuits or component corrosion in the motor, impacting long-term reliability.

[0005] In summary, the core problems of current low-altitude manned aircraft drive systems can be summarized as follows: 1) high energy consumption, short lifespan and safety hazards caused by mechanical contact; 2) insufficient dynamic adjustment capabilities of the magnetic levitation system, making it difficult to adapt to complex flight conditions; 3) the protection and sealing design cannot achieve both low friction and high reliability. Summary of the Invention

[0006] The purpose of the present invention is to provide a motor magnetic levitation positioning device for low-altitude manned electric vertical take-off and landing aircraft. The device adopts an axial-radial dual-degree-of-freedom active magnetic levitation structure to achieve frictionless power transmission, integrates an intelligent dynamic control system to optimize the suspension force in real time to adapt to complex flight conditions, and is equipped with a high-performance non-contact sealing device, thereby significantly improving the energy efficiency, reliability and safety of the low-altitude manned aircraft drive system.

[0007] The object of the present invention is to provide a motor magnetic suspension positioning device, comprising:

[0008] A housing, the housing serving as a protective support;

[0009] A dual suspension mechanism includes a stator shaft, a rotor shaft, a stator, a rotor, an electromagnetic assembly, and a magnetic assembly. The stator shaft is fixed within a housing, the rotor shaft is rotatable and coaxially sleeved around the stator shaft, the stator is fixedly connected to the stator shaft, the rotor is fixedly connected to the rotor shaft and disposed around the stator, and the rotor shaft drives the rotor to rotate around the axis of the stator shaft. The electromagnetic assembly and the magnetic assembly are respectively disposed in the relatively stationary portion and rotating portion of the motor suspension positioning device. Axial suspension stability is maintained through electromagnetic action to adapt to vertical take-off and landing, horizontal cruising, and variable-angle flight conditions of low-altitude manned electric vertical take-off and landing aircraft;

[0010] A sealing and waterproof mechanism, which is fixed to the upper side of the housing to perform a sealing function;

[0011] A control system for controlling the operation of the motor magnetic suspension positioning device, comprising:

[0012] The sensor group is used to collect the rotor's attitude data, acceleration data, and the gap data between the rotor and the stator in real time;

[0013] A controller, communicating with the motor drive module via a CAN bus, is configured to receive and process data collected by the sensor group, generate control instructions through a control algorithm, and dynamically adapt to changes in the flight attitude of the low-altitude manned electric vertical take-off and landing aircraft;

[0014] a motor driving module, electrically connected to the current regulating module, and configured to drive the dual suspension mechanism to generate suspension force;

[0015] A current regulating module, connected to the controller via a signal, and configured to regulate the output current according to a control instruction;

[0016] The power module is independently powered by the main battery of the low-altitude manned electric vertical take-off and landing aircraft to provide working power for the control system.

[0017] In one embodiment, the stator shaft is fixed inside the shell, and its axis coincides with the central axis of the shell. The stator is fixedly mounted on the outer circumferential surface of the stator shaft and is relatively stationary with the shell. The rotor is cylindrical and nested on the outside of the stator. The rotor shaft passes through the rotor and is fixedly connected to the rotor. The rotor shaft can rotate around the axis of the stator shaft. When the rotor shaft rotates, it drives the rotor to rotate synchronously, realizing the rotation function of the outer rotor structure. The electromagnetic component is installed on the shell, and the magnetic component is installed on the double suspension mechanism. The two interact to maintain the suspension stability of the low-altitude manned electric vertical take-off and landing aircraft during flight.

[0018] In one embodiment, the dual suspension mechanism is composed of a radial suspension mechanism and an axial suspension mechanism. The radial suspension mechanism is composed of magnetic components evenly distributed circumferentially on the rotor shaft and electromagnetic components distributed circumferentially on the inner side of the shell, which can adapt to the centrifugal force load of the low-altitude manned electric vertical take-off and landing aircraft during horizontal cruising; the axial suspension mechanism is composed of magnetic components installed at the upper and lower ends of the stator and electromagnetic components installed at corresponding positions at the upper and lower ends of the shell, which dynamically offsets the axial thrust of the low-altitude manned electric vertical take-off and landing aircraft during vertical take-off and landing.

[0019] In one embodiment, the rotor shaft is circumferentially embedded with a permanent magnet ring, and electromagnets are circumferentially distributed on the inner side of the shell. The radial magnetic force is adjusted by closed-loop control of the electromagnet current to maintain the rotor in a centered state during variable-angle flight of a low-altitude manned electric vertical take-off and landing aircraft.

[0020] In one embodiment, pancake-shaped permanent magnets are fixed at the upper and lower ends of the stator, and electromagnets are installed at the upper and lower ends of the shell. Through the magnetic coupling between the permanent magnets and the electromagnets, the axial displacement of the rotor during vertical take-off and landing and attitude adjustment of the low-altitude manned electric vertical take-off and landing aircraft is dynamically offset.

[0021] In one embodiment, a layer of silicon nitride ceramic coating is installed on the surface of the electromagnet to meet the high temperature and friction protection requirements of low-altitude manned electric vertical take-off and landing aircraft flying outdoors.

[0022] In one embodiment, the sealing and waterproof mechanism is an air maze sealing device, which forms a circuitous airflow channel by alternating multiple levels of annular grooves and ridges, and uses gas viscous resistance to prevent the intrusion of external media during outdoor flight of a low-altitude manned electric vertical take-off and landing aircraft, while avoiding friction loss.

[0023] In one embodiment, the sealing device is fixed to the housing end cover by bolts, maintaining a gap with the rotor to achieve contactless sealing.

[0024] In one embodiment, the controller is configured to generate control instructions through a proportional-integral-differential closed-loop control algorithm based on the flight attitude data of the low-altitude manned electric vertical take-off and landing aircraft collected by the sensor group, and to adjust the current output to the motor drive module in real time through the current regulation module to dynamically maintain the rotor's suspended stable state under vertical take-off and landing, horizontal cruising and variable inclination angle conditions.

[0025] In one embodiment, the sensor group further comprises:

[0026] The Hall sensor is located in the air gap between the stator and the rotor. It is used to detect the radial magnetic flux density distribution of the rotor permanent magnet in real time and compensate for the air gap magnetic field distortion during high-speed flight of low-altitude manned electric vertical take-off and landing aircraft.

[0027] The accelerometer is fixed to the end of the rotor and is used to collect acceleration data of the rotor in the three axes of X / Y / Z to monitor the flight attitude and participate in the dynamic balance correction of the low-altitude manned electric vertical take-off and landing aircraft during the variable inclination flight;

[0028] The temperature sensor, embedded in the stator, is used to monitor the motor's operating temperature in real time, providing the current regulation module with a basis for thermal compensation control during high-load flight of low-altitude manned electric vertical take-off and landing aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a structural block diagram of an embodiment of a motor magnetic levitation positioning device for a low-altitude manned electric vertical take-off and landing aircraft according to the present invention;

[0030] Figure 2 This is a general schematic block diagram of an embodiment of a motor magnetic levitation positioning device for a low-altitude manned electric vertical take-off and landing aircraft according to the present invention;

[0031] Figure 3 This is a schematic block diagram of a dual suspension mechanism of an embodiment of a motor magnetic levitation positioning device for a low-altitude manned electric vertical take-off and landing aircraft according to the present invention;

[0032] Figure 4 This is a cross-sectional view of an embodiment of a motor magnetic levitation positioning device for a low-altitude manned electric vertical take-off and landing aircraft according to the present invention;

[0033] Figure 5 This is a three-dimensional schematic diagram of an embodiment of a motor magnetic levitation positioning device for a low-altitude manned electric vertical take-off and landing aircraft according to the present invention;

[0034] Figure 6This is the second cross-sectional view of a motor magnetic levitation positioning device for a low-altitude manned electric vertical take-off and landing aircraft according to the present invention;

[0035] Figure 7 This is a disassembled diagram of the components of a motor magnetic levitation positioning device for a low-altitude manned electric vertical take-off and landing aircraft according to the present invention.

[0036] Reference numerals:

[0037] 1- shell;

[0038] 2-Dual suspension mechanism;

[0039] 201- stator shaft;

[0040] 202- rotor shaft;

[0041] 203-stator;

[0042] 204-rotor;

[0043] 205-electromagnetic component;

[0044] 206-magnetic component;

[0045] 21- radial suspension mechanism;

[0046] 22- axial suspension mechanism;

[0047] 3-Sealing and waterproof mechanism;

[0048] 4-Control system;

[0049] 41-Sensor group;

[0050] 42-controller;

[0051] 43-motor drive module;

[0052] 44-current regulation module;

[0053] 45-Power module. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solutions and advantages of the implementation of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below in conjunction with the drawings in the embodiments of this application. In the drawings, the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions. The described embodiments are part of the embodiments of this application, not all of the embodiments. The embodiments described below with reference to the drawings are exemplary and are intended to be used to explain this application, and should not be understood as limitations on this application. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0055] In addition, it should be noted that, unless otherwise clearly stipulated and limited, the words "install", "connect", "connect" and similar terms used in the description of this application should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, an indirect connection through an intermediate medium, or a connection between two components. Technical personnel in the field can understand their specific meanings in this application according to the specific circumstances.

[0056] Figure 1 This is a structural block diagram of an embodiment of a motor magnetic levitation positioning device for a low-altitude manned electric vertical take-off and landing aircraft according to the present invention; Figure 2 This is a schematic block diagram of an embodiment of a motor magnetic levitation positioning device for a low-altitude manned electric vertical take-off and landing aircraft according to the present invention. Figure 3 This is a schematic block diagram of a dual suspension mechanism of an embodiment of a motor magnetic levitation positioning device for a low-altitude manned electric vertical take-off and landing aircraft according to the present invention; Figure 4 This is a cross-sectional view of an embodiment of a motor magnetic levitation positioning device for a low-altitude manned electric vertical take-off and landing aircraft according to the present invention. Figure 5 This is a three-dimensional schematic diagram of an embodiment of a motor magnetic levitation positioning device for a low-altitude manned electric vertical take-off and landing aircraft according to the present invention; Figure 6 This is the second cross-sectional view of a motor magnetic levitation positioning device for a low-altitude manned electric vertical take-off and landing aircraft according to the present invention; Figure 7 This is a disassembled diagram of the components of a motor magnetic levitation positioning device for a low-altitude manned electric vertical take-off and landing aircraft according to the present invention.

[0057] like Figure 2 and Figure 3 As shown, the present invention provides a motor magnetic levitation positioning device for a low-altitude manned electric vertical take-off and landing aircraft, comprising:

[0058] Shell 1, which serves as a protective support;

[0059] like Figure 1 and Figure 3As shown, the dual suspension mechanism 2 includes a stator shaft 201, a rotor shaft 202, a stator 203, a rotor 204, an electromagnetic assembly 205 and a magnetic assembly 206. The stator shaft 201 is fixed in the housing, the rotor shaft 202 is rotatable and coaxially sleeved on the outer periphery of the stator shaft 201, the stator 203 is fixedly connected to the stator shaft 201, the rotor 204 is fixedly connected to the rotor shaft 202 and arranged around the stator 203, the rotor shaft 202 drives the rotor 204 to rotate around the axis of the stator shaft 201, the electromagnetic assembly 205 and the magnetic assembly 206 are respectively arranged in the relatively static part and the rotating part of the motor suspension positioning device, and maintain axial suspension stability through electromagnetic action;

[0060] A sealing and waterproof mechanism 3, which is fixed to the upper side of the housing 1 and functions as a seal;

[0061] The control system 4 is used to control the operation of the motor magnetic suspension positioning device, including:

[0062] The sensor group 41 is used to collect the attitude data and acceleration data of the rotor 204 and the gap data between the rotor 204 and the stator 203 in real time;

[0063] The controller 42 establishes a communication connection with the motor drive module 43 via the CAN bus, and is used to receive and process the data collected by the sensor group 41;

[0064] The motor driving module 43 is electrically connected to the current regulating module 44 and is used to drive the dual suspension mechanism 2 to generate suspension force;

[0065] A current regulating module 44 is connected to the controller 42 via a signal, and is used to regulate the output current according to the control instruction;

[0066] The power module 45 is independently powered by the aircraft's main battery and provides operating power for the control system 4;

[0067] This embodiment is preferred, as Figure 1 、 Figure 3 and Figure 5 As shown, the stator shaft 201 is fixed inside the housing 1, and its axis coincides with the central axis of the housing 1. The stator 203 is fixedly sleeved on the outer circumference of the stator shaft 201 and is relatively stationary with respect to the housing 1. The rotor 204 is cylindrical and nested outside the stator 203. The rotor shaft 202 passes through the rotor 204 and is fixedly connected to the rotor 204. The rotor shaft 202 can rotate around the axis of the stator shaft 201. When the rotor shaft 202 rotates, it drives the rotor 204 to rotate synchronously, realizing the rotation function of the outer rotor 204 structure. The electromagnetic component 205 is installed on the housing, and the magnetic component 206 is installed on the double suspension mechanism 2. The two interact to maintain suspension stability.

[0068] This embodiment is preferred, as Figure 1 、 Figure 3 and Figure 5 As shown, the dual suspension mechanism 2 is composed of a radial suspension mechanism 21 and an axial suspension mechanism 22. The radial suspension mechanism 21 is composed of magnetic components 206 uniformly distributed circumferentially on the rotor shaft 202 and electromagnetic components 205 distributed circumferentially on the inner side of the shell 1. The axial suspension mechanism 22 is composed of magnetic components 206 installed at the upper and lower ends of the stator 203 and electromagnetic components 205 installed at corresponding positions at the upper and lower ends of the shell 1.

[0069] In this embodiment, preferably, the rotor shaft 202 is circumferentially embedded in a permanent magnet ring, and electromagnets are circumferentially distributed inside the housing 1. The radial magnetic force is adjusted by closed-loop control of the electromagnet current to maintain the rotor 204 centered.

[0070] In this embodiment, preferably, pancake-shaped permanent magnets are fixed at the upper and lower ends of the stator 203, and electromagnets are installed at the upper and lower ends of the housing 1. Through the magnetic coupling between the permanent magnets and the electromagnets, the axial displacement of the rotor shaft 202 is dynamically offset, that is, the axial load is offset by adjusting the electromagnet current, and the radial clearance and axial clearance are actively controlled.

[0071] In this embodiment, preferably, a silicon nitride ceramic coating is installed on the surface of the electromagnet, with a friction coefficient of less than 0.1 and a temperature resistance of ≥800°C.

[0072] This embodiment is preferred, as Figure 7 As shown, the sealing and waterproof mechanism 3 is an air labyrinth sealing device, which forms a circuitous air flow channel by alternating multiple levels of annular grooves and ridges, and uses gas viscosity resistance to block the intrusion of external media while avoiding friction loss.

[0073] In this embodiment, the sealing device is preferably fixed to the housing end cover by bolts, and a gap of 0.5-1 mm is maintained between the sealing device and the rotor 204 to achieve contactless sealing.

[0074] In this embodiment, the controller 42 is preferably configured to generate control instructions through a proportional-integral-differential closed-loop control algorithm based on the data collected by the sensor group 41, and to adjust the current output to the motor drive module 43 in real time through the current regulation module 44 to dynamically maintain the suspension stability state of the rotor 204.

[0075] In this embodiment, the sensor group 41 preferably further includes:

[0076] The Hall sensor is provided in the air gap area between the stator 203 and the rotor 204 and is used to detect the radial magnetic flux density distribution of the permanent magnet of the rotor 204 in real time;

[0077] An accelerometer, fixed to the end of the rotor 204, is used to collect acceleration data of the rotor 204 in the X / Y / Z axes to monitor the flight attitude;

[0078] A temperature sensor, embedded in the stator 203, is used to monitor the motor operating temperature in real time;

[0079] The detection data of the Hall sensor is used to compensate for air gap magnetic field distortion, the accelerometer data participates in dynamic balance correction of the rotor 204 , and the temperature sensor data is used for thermal compensation control of the current regulation module 44 .

[0080] Example

[0081] During aircraft operation, the magnetic levitation positioning device dynamically adjusts the magnetic levitation force based on the flight attitude to achieve contactless, stable operation. During takeoff, when the blades are in a vertical position, the control system 4 uses sensors to monitor the rotor 204's attitude in real time and outputs an enhanced current to the axial levitation mechanism 22, creating a high-strength axial magnetic coupling between the permanent magnets at both ends of the stator and the electromagnets in the housing, completely offsetting the axial loads caused by the rotor 204's gravity and takeoff acceleration. During the cruise phase, the blades switch to a horizontal attitude, and the radial levitation mechanism 21 takes control. The circumferentially distributed electromagnets within the housing 1 dynamically adjust the radial magnetic force distribution based on centrifugal force and aerodynamic loads using a closed-loop algorithm, ensuring that the rotor 204 maintains radially centered levitation during high-speed rotation. When the aircraft performs variable-angle maneuvers, the sensor group 41 simultaneously collects multi-dimensional acceleration and air gap magnetic field data. The control system 4 integrates the flight attitude parameters with the dynamic equilibrium state of the rotor 204 to dynamically weight the axial and radial magnetic forces. The current regulation module 44 achieves a smooth transition between the two-axis levitation forces. During the initial landing phase, a low-power suspension state is maintained. As the altitude decreases, the electromagnet excitation current is gradually reduced, and a soft landing is achieved by utilizing the pre-tightened magnetic force between the stator permanent magnet and the rotor 204. Finally, the rotor 204 is stably landed in a safe position by the inherent magnetic attraction of the permanent magnet, thus avoiding mechanical contact and impact damage throughout the entire process.

[0082] The present invention has the following beneficial effects:

[0083] 1) Using magnetic levitation design to eliminate mechanical friction and improve energy efficiency and reliability;

[0084] 2) The intelligent adjustment system adapts to changes in flight attitude in real time to ensure stable operation;

[0085] 3) The innovative sealing structure achieves excellent protection performance under the premise of zero friction.

[0086] The above embodiments are merely further explanations of the present invention and are not intended to limit the present invention in any other manner. The present invention may also have various other embodiments. Those skilled in the art may make various corresponding modifications and variations based on the present invention without departing from the spirit and substance of the present invention, and such corresponding modifications and variations shall fall within the scope of protection of the present invention.

[0087] In the description of this application, it should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the exemplary embodiments according to this application. For ease of description, the dimensions of the various parts shown in the drawings are not drawn according to the actual proportional relationship. Technologies, methods and equipment known to ordinary technicians in the relevant fields may not be discussed in detail, but where appropriate, the technologies, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, so once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0088] It should be noted that, in this application, the terms "comprises", "includes" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. It should also be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.

[0089] The above embodiments are provided for persons familiar with the art to implement or use the present application. Personnel familiar with the art may make various modifications or changes to the above embodiments without departing from the application concept of the present application. Therefore, the scope of protection of the present application is not limited to the above embodiments, but should be the maximum scope of the innovative features mentioned in the claims.

Claims

1. A motor magnetic levitation positioning device for a low-altitude manned electric vertical take-off and landing aircraft, characterized in that: include: A housing, the housing serving as a protective support; A dual suspension mechanism includes a stator shaft, a rotor shaft, a stator, a rotor, an electromagnetic assembly, and a magnetic assembly. The stator shaft is fixed within a housing, the rotor shaft is rotatable and coaxially sleeved around the stator shaft, the stator is fixedly connected to the stator shaft, the rotor is fixedly connected to the rotor shaft and disposed around the stator, and the rotor shaft drives the rotor to rotate around the axis of the stator shaft. The electromagnetic assembly and the magnetic assembly are respectively disposed in the relatively stationary portion and rotating portion of the motor suspension positioning device. Axial suspension stability is maintained through electromagnetic action to adapt to vertical take-off and landing, horizontal cruising, and variable-angle flight conditions of low-altitude manned electric vertical take-off and landing aircraft; A sealing and waterproof mechanism, which is fixed to the upper side of the housing to perform a sealing function; A control system for controlling the operation of the motor magnetic suspension positioning device, comprising: The sensor group is used to collect the rotor's attitude data, acceleration data, and the gap data between the rotor and the stator in real time; A controller, communicating with the motor drive module via a CAN bus, is configured to receive and process data collected by the sensor group, generate control instructions through a control algorithm, and dynamically adapt to changes in the flight attitude of the low-altitude manned electric vertical take-off and landing aircraft; a motor driving module, electrically connected to the current regulating module, and configured to drive the dual suspension mechanism to generate suspension force; A current regulating module, connected to the controller via a signal, and configured to regulate the output current according to a control instruction; The power module is independently powered by the main battery of the low-altitude manned electric vertical take-off and landing aircraft to provide working power for the control system.

2. The motor magnetic levitation positioning device for a low-altitude manned electric vertical take-off and landing aircraft according to claim 1, characterized in that: The stator shaft is fixed inside the shell, and its axis coincides with the central axis of the shell. The stator is fixedly sleeved on the outer circumference of the stator shaft and is relatively stationary with the shell. The rotor is cylindrical and nested on the outside of the stator. The rotor shaft passes through the rotor and is fixedly connected to the rotor. The rotor shaft can rotate around the axis of the stator shaft. When the rotor shaft rotates, it drives the rotor to rotate synchronously, realizing the rotation function of the outer rotor structure. The electromagnetic component is installed on the shell, and the magnetic component is installed on the double suspension mechanism. The two interact to maintain the suspension stability of the low-altitude manned electric vertical take-off and landing aircraft during flight.

3. The motor magnetic levitation positioning device for a low-altitude manned electric vertical take-off and landing aircraft according to claim 2, characterized in that: The dual suspension mechanism consists of a radial suspension mechanism and an axial suspension mechanism. The radial suspension mechanism consists of magnetic components evenly distributed circumferentially on the rotor shaft and electromagnetic components distributed circumferentially on the inner side of the shell, which can adapt to the centrifugal force load of the low-altitude manned electric vertical take-off and landing aircraft during horizontal cruising; the axial suspension mechanism consists of magnetic components installed at the upper and lower ends of the stator and electromagnetic components installed at corresponding positions at the upper and lower ends of the shell, which dynamically offsets the axial thrust of the low-altitude manned electric vertical take-off and landing aircraft during vertical take-off and landing.

4. The motor magnetic levitation positioning device for a low-altitude manned electric vertical take-off and landing aircraft according to claim 3, characterized in that: The magnetic component embedded circumferentially on the rotor shaft is a permanent magnet ring, and the electromagnetic components distributed circumferentially on the inner side of the shell are electromagnets. The radial magnetic force is adjusted by controlling the current in the electromagnets in a closed loop to maintain the rotor in a centered state during variable-angle flight of a low-altitude manned electric vertical take-off and landing aircraft.

5. The motor magnetic levitation positioning device for a low-altitude manned electric vertical take-off and landing aircraft according to claim 3, characterized in that: The magnetic components fixed at the upper and lower ends of the stator are pancake-shaped permanent magnets, and the electromagnetic components correspondingly installed at the upper and lower ends of the shell are electromagnets. Through the magnetic coupling between the permanent magnets and the electromagnets, the axial displacement of the rotor during vertical take-off and landing and attitude adjustment of the low-altitude manned electric vertical take-off and landing aircraft is dynamically offset.

6. The motor magnetic levitation positioning device for a low-altitude manned electric vertical take-off and landing aircraft according to claim 4 or 5, characterized in that: A layer of silicon nitride ceramic coating is installed on the surface of the electromagnet to meet the high temperature and friction protection requirements of low-altitude manned electric vertical take-off and landing aircraft flying outdoors.

7. The motor magnetic levitation positioning device for a low-altitude manned electric vertical take-off and landing aircraft according to claim 1, characterized in that: The sealing and waterproof mechanism is an air maze sealing device, which forms a circuitous airflow channel by alternating multiple levels of annular grooves and ridges, and uses gas viscous resistance to prevent the intrusion of external media during outdoor flight of a low-altitude manned electric vertical take-off and landing aircraft, while avoiding friction loss.

8. The motor magnetic levitation positioning device for a low-altitude manned electric vertical take-off and landing aircraft according to claim 7, characterized in that: The sealing device is fixed to the housing end cover by bolts, maintaining a gap with the rotor to achieve contactless sealing, and is adapted to the dynamic suspension gap of the rotor during the flight of a low-altitude manned electric vertical take-off and landing aircraft.

9. The motor magnetic levitation positioning device for a low-altitude manned electric vertical take-off and landing aircraft according to claim 1, characterized in that: The controller is configured to generate control instructions through a proportional-integral-differential closed-loop control algorithm based on the flight attitude data of the low-altitude manned electric vertical take-off and landing aircraft collected by the sensor group, and to adjust the current output to the motor drive module in real time through the current regulation module to dynamically maintain the rotor's suspended stable state under vertical take-off and landing, horizontal cruising, and variable inclination angle conditions.

10. The motor magnetic levitation positioning device for a low-altitude manned electric vertical take-off and landing aircraft according to claim 1, characterized in that: The sensor group further includes: The Hall sensor is located in the air gap between the stator and the rotor. It is used to detect the radial magnetic flux density distribution of the rotor permanent magnet in real time and compensate for the air gap magnetic field distortion during high-speed flight of low-altitude manned electric vertical take-off and landing aircraft. The accelerometer is fixed to the end of the rotor and is used to collect acceleration data of the rotor in the three axes of X / Y / Z to monitor the flight attitude and participate in the dynamic balance correction of the low-altitude manned electric vertical take-off and landing aircraft during the variable inclination flight; The temperature sensor, embedded in the stator, is used to monitor the motor's operating temperature in real time, providing the current regulation module with a basis for thermal compensation control during high-load flight of low-altitude manned electric vertical take-off and landing aircraft.

Images