Stator tooth axisymmetric double-winding permanent magnet vernier motor

Abstract

This invention relates to a stator-tooth axisymmetric dual-winding permanent magnet vernier motor, belonging to the field of harmonic utilization or magnetic field modulation motors. The invention addresses the problem of limited peak torque performance in permanent magnet vernier motors when the stator core is saturated. The invention comprises: an excitation section including a rotor core, a shaft, and radially surface-mounted Halbach permanent magnets; an armature section including a stator core with a multi-segment split-tooth structure, a main armature winding, and an auxiliary armature winding; the main and auxiliary armature windings are wound on the stator main and auxiliary teeth respectively, with their axes of symmetry coinciding and their winding directions opposite, and the main and auxiliary armature windings connected in series; two symmetrically distributed stator split teeth form a flux shunt path, which, combined with the reverse winding of the main and auxiliary armature windings, achieves complementary magnetomotive forces between the main and auxiliary stator teeth and enhances the magnetomotive force on the stator split teeth; an air gap section located between the excitation section and the armature section, forming a magnetic permeability modulation structure through the interaction between the outer circle of the permanent magnet and the stator core, creating magnetic permeability in the air gap to modulate the armature magnetic field and the permanent magnet magnetic field.

Description

Technical Field

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

[0002] Under the demands of high-performance equipment systems for high dynamic response, high response accuracy, and high torque density, permanent magnet vernier motors (PMMs) have broad application prospects in wind power generation, electric vehicles, and industrial servo systems due to their high torque density, high efficiency, and low torque ripple. Compared to the single magnetic field operation mode of permanent magnet synchronous motors (PMSMs), PMMs utilize multiple harmonic operating magnetic fields by directionally designing the motor topology, thus further enhancing the motor's torque density. Simultaneously, PMMs convert high-frequency magnetic field harmonics into effective torque components through the magnetic field modulation effect of stator cogging and rotor permanent magnets. This modulation process suppresses spatial harmonics caused by cogging effects and non-ideal pole distribution in traditional PMMs, further reducing cogging torque and torque ripple. However, when the stator core saturates, the magnetic field modulation effect becomes less ideal, limiting the peak torque performance of PMMs. Therefore, designing a novel PMM structure that can alleviate stator core saturation is crucial for improving peak torque performance and further increasing torque density. Summary of the Invention

[0003] To address the problem of limited peak torque performance in permanent magnet vernier motors when the stator core is saturated, this invention provides a stator gear axis symmetrical dual-winding permanent magnet vernier motor.

[0004] The stator gear axisymmetric dual-winding permanent magnet vernier motor of the present invention includes an excitation part, an armature part, and an air gap part; the air gap part changes periodically.

[0005] The excitation section includes the rotor core 5, the shaft 6, and the radially surface-mounted Halbach permanent magnet 4;

[0006] The armature section includes a stator core 3 with a multi-segment split tooth structure, a main armature winding 1, and a secondary armature winding 2. The stator core 3 is composed of an axisymmetric stator main tooth 3-1, a stator secondary tooth 3-2, a stator split tooth 3-3, and a stator yoke 3-4. The main armature winding 1 and the secondary armature winding 2 are wound on the stator main tooth 3-1 and the stator secondary tooth 3-2, respectively. The axes of symmetry of the main and secondary armature windings coincide and the winding directions are opposite. The main and secondary armature windings are connected in series. The two segments of the stator split tooth 3-3 are symmetrically distributed about the axis of symmetry. The two segments of the stator split tooth 3-3 form a magnetic flux shunt path. With the main and secondary armature windings wound in opposite directions, the magnetomotive forces of the stator main tooth 3-1 and the stator secondary tooth 3-2 are complementary, and the magnetomotive force on the stator split tooth 3-3 is enhanced.

[0007] The air gap section is located between the excitation section and the armature section. Through the interaction between the outer circle of the permanent magnet 4 and the stator core 3, a magnetic permeability modulation structure is formed, and air gap magnetic permeability is formed in the air gap to modulate the armature magnetic field and the permanent magnet magnetic field.

[0008] Preferably, N is evenly distributed circumferentially on the inner circular surface of the stator yoke 3-4 of the stator core 3. s Each stator main tooth 3-1 and two stator split teeth 3-3 form a V-shaped structure opening towards the air gap side. The two stator split teeth 3-3 are symmetrical about the axis of symmetry of the main tooth 3-1 and the stator auxiliary tooth 3-2. The inner tip of the V-shaped structure is provided with the stator auxiliary tooth 3-2 radially. The axis of symmetry of the stator main tooth 3-1 and the stator auxiliary tooth 3-2 coincides. The stator auxiliary tooth 3-2 is shorter than the stator split tooth 3-3, forming a notch on the air gap side.

[0009] The stator auxiliary tooth 3-2 and the two stator split teeth 3-3 of the V-shaped structure form two symmetrical triangular slots;

[0010] A sector-shaped groove is formed on the outer circular side of the stator, and the opening of the sector-shaped groove is on the air gap side.

[0011] Preferably, the main armature winding 1 adopts a fractional slot concentrated double-layer winding, arranged in a sector-shaped slot on the outer circle side of the stator; the auxiliary armature winding 2 adopts a fractional slot concentrated single-layer winding, arranged in a triangular slot on the air gap side.

[0012] Preferably, the permanent magnet 4 adopts a combination structure of radial magnetization in both directions and tangential magnetization in both directions.

[0013] Preferably, the number of turns of the main armature winding 1 and the auxiliary armature winding 2 satisfies the following formula:

[0014]

[0015] In the formula, N1 and N2 are the number of turns of the main armature winding 1 and the auxiliary armature winding 2, respectively, and S1 and S2 are the slot areas of the slots wound in the main armature winding 1 and the auxiliary armature winding 2, respectively.

[0016] Preferably, the air gap section comprises three parts: a uniform annular physical air gap section sandwiched between the stator core 3 and the permanent magnet 4, an air gap section at the slot opening of the fan-shaped groove, and an air gap section at the notch formed by the stator auxiliary teeth 3-2, and the air gap section exhibits periodic changes.

[0017] Preferably, the air gap permeability Λ of the motor satisfies the following formula:

[0018]

[0019] In the formula, N s Let θ be the number of slots in the motor, i be the order of magnetic permeability, i = 1, 2, ..., n, n ≤ 3, and θ be the number of slots in the motor. m Λ is the motor position angle.i and θ i These represent the amplitude and phase of the i-th order permeability component, respectively;

[0020] Λ0 is the average magnetic permeability. Harmonic permeability;

[0021] The radial air gap between the stator and rotor is a circular physical air gap segment with a periodically varying width, used to generate average magnetic permeability;

[0022] The air gap section formed by the fan-shaped slot opening and the notch at the stator auxiliary tooth 3-2 is used to edit the harmonic magnetic permeability of the motor slot number multiple.

[0023] Preferably, the magnetic flux distribution of the stator core satisfies the following relationship:

[0024]

[0025] In the formula, Φ tm Φ ts Φ tc Φ e The magnetic flux Φ of stator main tooth 3-1, stator auxiliary tooth 3-2, stator split tooth 3-3, and stator yoke 3-4 are respectively. m Φ m1 Φ m2 These represent the magnetic flux Φ on the stator main teeth 3-1, stator auxiliary teeth 3-2, and stator split teeth 3-3 when the main armature winding 1 is working. s Φ s1 Φ s2 These are the magnetic fluxes on stator auxiliary teeth 3-2, stator main teeth 3-1, and stator split teeth 3-3 when the auxiliary armature winding 2 is working, respectively.

[0026] And it satisfies the following relationship:

[0027]

[0028] The beneficial effects of this invention are:

[0029] The stator tooth axisymmetric permanent magnet vernier motor proposed in this invention achieves the following by constructing a specific air gap magnetic permeability through directional design of the stator tooth structure:

[0030] 1. Synergistic effect of multiple harmonic magnetic fields: Edit and plan multiple harmonic working magnetic fields, fully utilize the energy of harmonic magnetic fields, and significantly improve the torque density of the motor.

[0031] 2. Suppression of spatial harmonics and torque pulsation: By utilizing the magnetic field modulation effect of the air gap magnetic permeability, spatial harmonics caused by cogging effect and magnetic pole distribution in traditional permanent magnet motors are effectively suppressed, thereby significantly reducing cogging torque and torque pulsation.

[0032] 3. Anti-saturation and peak torque enhancement: Two sets of axisymmetrically distributed, reverse-wound armature windings are adopted, which effectively suppress stator core saturation when the armature current is large, further enhancing the motor's torque output capability and peak torque performance. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the stator gear axis-symmetric dual-winding permanent magnet vernier motor structure of the present invention;

[0034] Figure 2 This is a schematic diagram of the motor stator core structure of the present invention;

[0035] Figure 3 This is a schematic diagram of the main armature winding and auxiliary armature winding structure of the motor of the present invention;

[0036] Figure 4 This is a schematic diagram of the overall wiring of the main armature winding and auxiliary armature winding of the motor of the present invention;

[0037] Figure 5 This is a schematic diagram of the stator magnetic flux path of the motor according to the present invention;

[0038] Figure 6 This is a schematic diagram of the corresponding magnetic flux paths of the main armature winding and the auxiliary armature winding of the motor of the present invention, wherein... Figure 6 (a) is the flux path of the main armature winding. Figure 6 (b) is the flux path of the auxiliary armature winding;

[0039] Figure 7 The diagram shows the back EMF waveforms of the main armature winding and auxiliary armature winding of the motor at 3000 r / min according to the present invention.

[0040] Figure 8 This is a magnetic flux density cloud diagram of the main armature winding of the motor of the present invention operating alone;

[0041] Figure 9 This is a magnetic flux density cloud diagram of the auxiliary armature winding of the motor of the present invention operating alone;

[0042] Figure 10 This is a magnetic flux density cloud diagram showing the combined operation of the main armature winding and the auxiliary armature winding of the motor according to the present invention.

[0043] Figure 11 The torque waveforms of the motor under different winding operating conditions according to the present invention;

[0044] In the diagram: 1. Main armature winding, 2. Auxiliary armature winding, 3. Stator core, 4. Permanent magnet, 5. Rotor core, 6. Motor shaft.

[0045] 3-1. Stator main teeth; 3-2. Stator auxiliary teeth; 3-3. Stator split teeth; 3-4. Stator yoke.

[0046] Windings A, B, and C are the three-phase windings of the main armature winding 1, and windings a, b, and c are the three-phase windings of the auxiliary armature winding 2.

[0047] Φ m Φ m1 Φ m2 These represent the magnetic fluxes Φ on the stator main teeth, stator auxiliary teeth, and stator split teeth when the main armature winding 1 is working. s Φ s1 and Φ s2 These represent the magnetic flux on the stator auxiliary teeth, stator main teeth, and stator split teeth when the auxiliary armature winding 2 is working, with directions as follows: Figure 6 As shown. Detailed Implementation

[0048] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0050] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the scope of the invention.

[0051] Specific Implementation Method 1: The following is combined with... Figures 1 to 11 This embodiment describes a stator-gear axis-symmetrical dual-winding permanent magnet vernier motor, comprising an excitation section, an armature section, and an air gap section. These three sections are radially divided. This embodiment uses a three-phase permanent magnet vernier motor as an example for specific explanation. The excitation section is the rotor unit of the three-phase permanent magnet vernier motor, the armature section is the stator unit of the three-phase permanent magnet vernier motor, and the air gap section is the unit sandwiched between the armature section and the excitation section. The air gap section exhibits periodic variation.

[0052] The excitation section includes a rotor core 5, a shaft 6, and a radially surface-mounted Halbach permanent magnet 4; the permanent magnet 4 adopts a combination structure of positive and negative radial magnetization and positive and negative tangential magnetization.

[0053] The armature section includes a stator core 3 with a multi-segment split tooth structure, a main armature winding 1, and a secondary armature winding 2. The stator core 3 is composed of an axisymmetric stator main tooth 3-1, a stator secondary tooth 3-2, a stator split tooth 3-3, and a stator yoke 3-4. The main armature winding 1 and the secondary armature winding 2 are wound on the stator main tooth 3-1 and the stator secondary tooth 3-2, respectively. The axes of symmetry of the main and secondary armature windings coincide and the winding directions are opposite. The main and secondary armature windings are connected in series. The two segments of the stator split tooth 3-3 are symmetrically distributed about the axis of symmetry. The two segments of the stator split tooth 3-3 form a magnetic flux shunt path. With the main and secondary armature windings wound in opposite directions, the magnetomotive forces of the stator main tooth 3-1 and the stator secondary tooth 3-2 are complementary, and the magnetomotive force on the stator split tooth 3-3 is enhanced.

[0054] The air gap section is located between the excitation section and the armature section. Through the interaction between the outer circle of the permanent magnet 4 and the stator core 3, a magnetic permeability modulation structure is formed, and air gap magnetic permeability is formed in the radial air gap to modulate the armature magnetic field and the permanent magnet magnetic field.

[0055] The main armature winding 1 and the auxiliary armature winding 2 are connected in series to form the motor armature winding, see [link / reference]. Figure 4 The currents flowing through the main armature winding 1 and the auxiliary armature winding 2 are equal and equal to the three-phase input current of the motor.

[0056] See Figure 2 The specific structure of the stator core 3 is described in detail. The motor stator core 3 consists of four parts: stator main teeth 3-1, stator auxiliary teeth 3-2, stator split teeth 3-3, and stator yoke 3-4. N is evenly distributed circumferentially on the inner surface of the stator yoke 3-4. s Each stator main tooth 3-1 and two stator split teeth 3-3 form a V-shaped structure opening towards the air gap side. The two stator split teeth 3-3 are symmetrical about the axis of symmetry of the main tooth 3-1 and the stator auxiliary tooth 3-2. The inner tip of the V-shaped structure is provided with the stator auxiliary tooth 3-2 radially. The axis of symmetry of the stator main tooth 3-1 and the stator auxiliary tooth 3-2 coincides. The stator auxiliary tooth 3-2 is shorter than the stator split tooth 3-3, forming a notch on the air gap side.

[0057] The stator auxiliary tooth 3-2 and the two stator split teeth 3-3 of the V-shaped structure form two symmetrical triangular slots;

[0058] A sector-shaped groove is formed on the outer circular side of the stator, and the opening of the sector-shaped groove is on the air gap side.

[0059] The armature winding consists of two parts: a main armature winding 1 and an auxiliary armature winding 2. The main armature winding 1 is wound on the stator main teeth 3-1, and the auxiliary armature winding 2 is wound on the stator auxiliary teeth 3-2. Their axes of symmetry coincide, but their winding directions are opposite. The main armature winding 1 is a fractional-slot concentrated double-layer winding, arranged in the sector-shaped slots on the outer circle side of the stator; the auxiliary armature winding 2 is a fractional-slot concentrated single-layer winding, arranged in the triangular slots on the air gap side.

[0060] The number of turns of the main armature winding 1 and the auxiliary armature winding 2 satisfy the following formula:

[0061]

[0062] In the formula, N1 and N2 are the number of turns of the main armature winding 1 and the auxiliary armature winding 2, respectively, and S1 and S2 are the slot areas of the slots wound in the main armature winding 1 and the auxiliary armature winding 2, respectively.

[0063] The armature magnetomotive force of the main armature winding 1 and the auxiliary armature winding 2 is obtained by the following formula:

[0064]

[0065] In the formula, I is the motor phase current, and F1 and F2 are the armature magnetomotive forces of the main armature winding 1 and the auxiliary armature winding 2, respectively.

[0066] See Figure 5 and Figure 6 The magnetic flux of the four parts—stator main tooth 3-1, stator auxiliary tooth 3-2, stator split tooth 3-3, and stator yoke 3-4—is obtained by the following formula:

[0067]

[0068] In the formula, Φ tm Φ ts Φ tc Φ e The magnetic flux Φ of stator main tooth 3-1, stator auxiliary tooth 3-2, stator split tooth 3-3, and stator yoke 3-4 are respectively. m Φ m1 Φ m2 These represent the magnetic flux Φ on the stator main teeth 3-1, stator auxiliary teeth 3-2, and stator split teeth 3-3 when the main armature winding 1 is working. s Φ s1 Φ s2 These are the magnetic fluxes on stator auxiliary teeth 3-2, stator main teeth 3-1, and stator split teeth 3-3 when the auxiliary armature winding 2 is working, respectively.

[0069] And it satisfies the following relationship:

[0070]

[0071] The air gap consists of three parts: a uniform annular physical air gap section sandwiched between the stator core 3 and the permanent magnet 4, an air gap section at the slot opening of the fan-shaped slot, and an air gap section at the notch formed by the stator auxiliary teeth 3-2. The air gap section exhibits periodic changes.

[0072] The average permeability and harmonic permeability components are obtained from the air gap permeability Λ of the motor:

[0073]

[0074] In the formula, N s Let θ be the number of slots in the motor, i be the order of magnetic permeability, i = 1, 2, ..., n, n ≤ 3, and θ be the number of slots in the motor. m Λ is the motor position angle. i and θ i These represent the amplitude and phase of the i-th order permeability component, respectively;

[0075] Λ0 is the average magnetic permeability. Harmonic permeability;

[0076] A uniform annular physical air gap between the stator and rotor is used to generate average magnetic permeability;

[0077] The air gap section formed by the fan-shaped slot opening and the notch at the stator auxiliary tooth 3-2 is used to edit the harmonic magnetic permeability of the motor slot number multiple.

[0078] Rotor magnetic field: Radial surface-mounted Halbach permanent magnets generate a fundamental and harmonic permanent magnetomotive force (GMMF). The fundamental component of the GMMF is the dominant component, and the GMMF f0 pm Satisfy the following formula:

[0079]

[0080] Where ω is the angular frequency of the motor, p is the number of pole pairs of the motor, j is the permanent magnet order, and F pmj and θ j denoted as the amplitude and phase of the j-th order permanent magnet magnetomotive force component, respectively, and t as time.

[0081] The periodically varying air gap permeability modulates the permanent magnet magnetomotive force, resulting in a permanent magnet magnetic field b modulated by the permeability. pm The permanent magnet magnetic field component includes the sum modulation component, the difference modulation component, and the average magnetic permeability effect, as shown in the following formula.

[0082]

[0083] Where b pm0 b pm+ and b pm- These are the permanent magnet magnetic field component with average magnetic permeability, the modulation component, and the differential modulation component, respectively.

[0084] armature magnetomotive force f a Multiple harmonic components can all contribute to the output torque, and satisfy the following equation:

[0085]

[0086] Where F ak and θ kThese represent the amplitude and phase of the k-th order armature magnetomotive force component, respectively.

[0087] It can be seen that the magnetomotive force f generated by the armature current a Including multiple spatial harmonics; the armature magnetomotive force is also modulated by the air gap permeability, and the armature magnetic field b modulated by the permeability a The armature magnetic field component includes the sum modulation component, the difference modulation component, and the armature magnetic field component resulting from the average magnetic permeability, as shown in the following formula.

[0088]

[0089] Where b a0 b a+ and b a- These are the armature magnetic field component, armature modulation component, and armature differential modulation component, respectively, representing the average magnetic permeability effect.

[0090] After modulation, multiple harmonic components with the same number of pole pairs and rotational speed are generated in both the permanent magnet magnetic field and the armature magnetic field. These paired magnetic field harmonics interact and can superimpose in the same direction to generate an average electromagnetic torque. The design of the notch generated by the stator auxiliary tooth optimizes the specific order of magnetic permeability harmonics (mainly N). s Multiple harmonics (multiple harmonics) allow more effective modulation harmonics to participate in torque output, thereby improving torque density and smoothness. Both the armature magnetic field and the permanent magnet magnetic field have multiple magnetic field harmonics with the same rotation frequency, all of which can output average torque and satisfy the following equation:

[0091] iN s ±k=iN s ±jp or

[0092] The main armature winding 1 is subdivided into three phases: windings A, B, and C. The auxiliary armature winding 2 is subdivided into three phases: windings a, b, and c. When the motor is running under no-load, the no-load back electromotive force e of the main armature winding 1 is... A e B e C The no-load back EMF e of the auxiliary armature winding 2 a e b e c The phases are the same, such as Figure 7 As shown.

[0093] The armature winding of the present invention includes two sets of windings: a main armature winding 1 and a secondary armature winding 2. The main armature winding 1 and the secondary armature winding 2 can work independently or in series.

[0094] When the main armature winding 1 works alone, the motor generates the main output torque;

[0095] When the auxiliary armature winding 2 works alone, the motor generates auxiliary output torque;

[0096] When the main armature winding 1 and the auxiliary armature winding 2 are connected in series and work together, the total output torque of the motor is the sum of the two.

[0097] When the main armature winding 1 operates alone, the auxiliary armature winding 2 operates alone, and the main armature winding 1 and the auxiliary armature winding 2 operate together, the magnetic flux density of the four parts of the stator main tooth 3-1, stator auxiliary tooth 3-2, stator split tooth 3-3, and stator yoke 3-4 is as follows: Figure 8-10 As shown. The auxiliary armature winding 2 can reduce the core saturation of the stator main teeth 3-1 and stator yoke 3-4, while the main armature winding 1 can reduce the core saturation of the stator auxiliary teeth 3-2, thereby improving the motor's overload capacity.

[0098] When the main armature winding 1 works alone, the auxiliary armature winding 2 works alone, and the main armature winding 1 and the auxiliary armature winding 2 work together, the magnetic flux density of the four parts of the stator main tooth 3-1, stator auxiliary tooth 3-2, stator split tooth 3-3 and stator yoke 3-4 is shown in the table below.

[0099]

[0100] The auxiliary armature winding 2 can reduce the core saturation of the stator main teeth 3-1 and stator yoke 3-4, while the main armature winding 1 can reduce the core saturation of the stator auxiliary teeth 3-2, thereby improving the motor's overload capacity.

[0101] like Figure 11 As shown, both the main armature winding 1 and the auxiliary armature winding 2 can generate torque in the same direction.

[0102] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. A stator gear axisymmetric dual-winding permanent magnet vernier motor, characterized in that, It includes the excitation section, the armature section, and the air gap section, with the air gap section exhibiting periodic changes; The excitation part includes the rotor core (5), the shaft (6) and the radial surface-mounted Halbach permanent magnet (4). The armature section includes a stator core (3) with a multi-segment split tooth structure, a main armature winding (1), and a secondary armature winding (2). The stator core (3) is composed of an axisymmetric stator main tooth (3-1), a stator secondary tooth (3-2), a stator split tooth (3-3), and a stator yoke (3-4). The main armature winding (1) and the secondary armature winding (2) are wound on the stator main tooth (3-1) and the stator secondary tooth (3-2), respectively. The axes of symmetry of the main and secondary armature windings coincide and the winding directions are opposite. The main and secondary armature windings are connected in series. The two segments of the stator split tooth (3-3) are symmetrically distributed about the axis of symmetry. The two segments of the stator split tooth (3-3) form a magnetic flux shunting path. With the main and secondary armature windings wound in opposite directions, the magnetomotive force of the stator main tooth (3-1) and the stator secondary tooth (3-2) is complementary, and the magnetomotive force on the stator split tooth (3-3) is enhanced. The air gap is located between the excitation section and the armature section. Through the interaction between the outer circle of the permanent magnet (4) and the stator core (3), a magnetic permeability modulation structure is formed, and air gap magnetic permeability is formed in the air gap to modulate the armature magnetic field and the permanent magnet magnetic field. N is evenly distributed circumferentially on the inner circular surface of the stator yoke (3-4) of the stator core (3). s Each stator main tooth (3-1) and two stator split teeth (3-3) form a V-shaped structure opening towards the air gap side. The two stator split teeth (3-3) are symmetrical about the axis of symmetry of the stator main tooth (3-1) and the stator auxiliary tooth (3-2). The inner tip of the V-shaped structure is provided with a stator auxiliary tooth (3-2) radially. The axis of symmetry of the stator main tooth (3-1) and the stator auxiliary tooth (3-2) coincides. The stator auxiliary tooth (3-2) is shorter than the stator split tooth (3-3) and forms a notch on the air gap side. The stator auxiliary tooth (3-2) and the two stator split teeth (3-3) of the V-shaped structure form two symmetrical triangular grooves; A sector-shaped groove is formed on the outer circumference side of the stator, and the opening of the sector-shaped groove is on the air gap side; The magnetic flux distribution in the stator core satisfies the following relationship: In the formula, , , , The magnetic fluxes of the stator main teeth (3-1), stator auxiliary teeth (3-2), stator split teeth (3-3), and stator yoke (3-4) are respectively. , , These represent the magnetic flux on the stator main teeth (3-1), stator auxiliary teeth (3-2), and stator split teeth (3-3) when the main armature winding (1) is working. , , These are the magnetic fluxes on the stator auxiliary teeth (3-2), stator main teeth (3-1), and stator split teeth (3-3) when the auxiliary armature winding (2) is working, respectively. And it satisfies the following relationship: 。 2. The stator gear axisymmetric double-winding permanent magnet vernier motor according to claim 1, characterized in that, The main armature winding (1) adopts a fractional slot concentrated double-layer winding, which is arranged in the fan-shaped slot on the outer circle side of the stator; the auxiliary armature winding (2) adopts a fractional slot concentrated single-layer winding, which is arranged in the triangular slot on the air gap side.

3. The stator gear axisymmetric double-winding permanent magnet vernier motor according to claim 1, characterized in that, The permanent magnet (4) adopts a combination structure of radial magnetization in both directions and tangential magnetization in both directions.

4. The stator gear axisymmetric double-winding permanent magnet vernier motor according to claim 2, characterized in that, The number of turns of the main armature winding (1) and the auxiliary armature winding (2) satisfy the following formula: In the formula, N1 and N2 are the number of turns of the main armature winding (1) and the auxiliary armature winding (2), respectively, and S1 and S2 are the slot areas of the main armature winding (1) and the auxiliary armature winding (2), respectively.

5. The stator gear axisymmetric double-winding permanent magnet vernier motor according to claim 4, characterized in that, The air gap section includes three parts: a uniform annular physical air gap section sandwiched between the stator core (3) and the permanent magnet (4), an air gap section at the slot opening of the fan-shaped groove, and an air gap section at the notch formed by the stator auxiliary teeth (3-2). The air gap section changes periodically.

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