Axial segmentally staggered polygonal permanent magnet synchronous linear motor

Abstract

This invention relates to an axially segmented, staggered polygonal permanent magnet synchronous linear motor, belonging to the field of permanent magnet motors. The invention addresses the problems of high end force and high thrust fluctuation in existing polygonal permanent magnet synchronous linear motors. The invention comprises six primary modules arranged in a polygonal layout on the outer side; and a secondary module located at the center of the polygonal layout, which is a cuboid frame structure with open ends, equidistant from all the primary modules in terms of air gap. The six primary modules include two mother modules and four sub-modules, wherein the length, number of poles, and number of slots of the mother modules are twice that of the sub-modules. Each side of the secondary module has one mother module or two sub-modules, and the structures are symmetrical with respect to the primary modules on the two opposite sides. The two sub-modules located on the same side are axially staggered with respect to the central axis of the mother module, and their windings are reconfigured. The armature windings of each phase of any primary module are connected in series or parallel to form a phase winding, and the six primary modules are connected in series with the same phase winding.

Description

Technical Field

[0001] This invention relates to an axially segmented, staggered polygonal permanent magnet synchronous linear motor, belonging to the field of permanent magnet motors. Background Technology

[0002] A permanent magnet linear motor is a device that directly converts electrical energy into linear motion. It features high efficiency, high thrust density, high dynamic response, and high positioning accuracy. In recent years, with the development of permanent magnet materials and advancements in control technology, the demand for linear motors has been increasing across various industries. Typical applications include semiconductor manufacturing, free piston engines, and wave power generation. Among these, polygonal permanent magnet synchronous linear motors have gained widespread attention due to their similar appearance to cylindrical permanent magnet linear motors but with better manufacturability. Furthermore, their modular structure allows for more flexible and varied designs. When a motor fails, only the damaged module needs to be repaired or replaced, eliminating the need to scrap the entire machine and reducing maintenance and repair costs.

[0003] The special problem that distinguishes permanent magnet synchronous linear motors from rotary motors is that the magnetic field changes abruptly at the end of the linear motor when the end is disconnected, resulting in large thrust fluctuations. This is one of the reasons that limits the practical application of polygonal permanent magnet synchronous linear motors.

[0004] For conventional polygonal permanent magnet synchronous linear motors, see Figure 3 As shown, the motor consists of four primary modules arranged in a rectangular layout on the outer edges and a secondary module located at the center of the rectangular layout. The secondary modules are equidistant from each primary module. Each module is fixedly connected via a housing and windings. The armature windings of each primary module are all circularly wound, and the winding arrangement is identical to that of the primary modules. The motor forms a symmetrical structure along the circumference. Therefore, the total end force of the motor and the resultant end force of each primary module are algebraically superimposed, resulting in a large end force and high thrust fluctuation. Reducing the end force of the linear motor, improving thrust fluctuation, reducing control difficulty, and enhancing system stability are crucial for this type of permanent magnet synchronous linear motor. Summary of the Invention

[0005] To address the issues of high end force and thrust fluctuation in existing polygonal permanent magnet synchronous linear motors, this invention provides an axially segmented staggered polygonal permanent magnet synchronous linear motor. Through a segmented staggered structure and winding reconfiguration, the end force is reduced and thrust fluctuation is decreased.

[0006] The present invention discloses an axially segmented staggered polygonal permanent magnet synchronous linear motor, comprising:

[0007] Six primary modules are arranged in a polygonal layout on the outside;

[0008] And a secondary module, located at the center of the polygon layout, is a cuboid frame structure with openings at both ends, and has the same air gap distance as all primary modules;

[0009] The six primary modules include two parent modules 1 and four sub-modules 2. The length of parent module 1 is twice that of sub-modules 2, and the number of poles and slots of sub-modules 2 is half that of parent module 1.

[0010] Each side of the secondary module is provided with one mother module 1 or two sub-modules 2, and the structure is symmetrical with respect to the primary module structure on the two sides; the two sub-modules 2 located on the same side are axially offset with the central axis of the mother module 1 as the reference, and the winding is reconfigured.

[0011] The armature windings of each phase of any primary module are connected in series or in parallel to form a phase winding, and the six primary modules are connected in series in the same phase winding.

[0012] Preferably, the two sub-modules 2 on the same side are symmetrically offset relative to the central axis of the parent module 1, and the electrical angle β corresponding to the offset distance satisfies one of the following two conditions:

[0013] Case 1: Assuming the back electromotive force remains constant, β = 2kτ - (mn) × α;

[0014] In the formula, τ is the electric angle of the electrode distance, τ=180°;

[0015] k is an integer, k = ±1. When the number of slots in the mother module 1 is greater than the number of poles, the offset k of the sub-module on the left side of the central axis is -1, and the offset k of the sub-module on the right side of the central axis is +1. When the number of slots in the mother module 1 is less than the number of poles, the offset k of the sub-module on the left side of the central axis is +1, and the offset k of the sub-module on the right side of the central axis is -1.

[0016] α is the electrical angle of the motor slot, α=360°×P / Z, where P is the number of pole pairs of mother module 1 and Z is the number of slots of mother module 1;

[0017] (mn) represents the number of slots moved by each phase winding during winding reconfiguration; n and m are the slot numbers of phase A winding before and after reconfiguration, respectively. The remaining phases are moved by (mn) slots in sequence to maintain the symmetry of the three-phase windings.

[0018] (mn)×α is the phase offset caused by winding reconfiguration;

[0019] Scenario 2: Minimizing thrust fluctuation. And by adjusting the winding reconfiguration scheme, As close to 2kτ as possible, the submodule is negative to the left of the central axis and positive to the right.

[0020] Preferably, the armature winding of the primary module is a single layer or a double layer.

[0021] Preferably, the positions of the primary modules and the armature winding arrangements on two adjacent sides in the circumferential direction are different, while the positions of the primary modules and the armature winding arrangements on two opposite sides are the same to counteract the normal force.

[0022] Preferably, the core of the primary module is made of silicon steel sheet, amorphous alloy material or soft magnetic composite material.

[0023] Preferably, the secondary module includes a secondary core 4 and permanent magnets 5. The secondary core 4 is a cuboid frame structure with openings at both ends, and the permanent magnets 5 are arranged on the four sides of the secondary core 4. The secondary core 4 is made of magnetically conductive material or non-magnetically conductive material.

[0024] Preferably, when the secondary core 4 is made of a magnetically conductive material, silicon steel sheet, amorphous alloy material or soft magnetic composite material is selected.

[0025] Preferably, when the secondary core 4 is made of a non-magnetic material, aluminum alloy or titanium alloy is selected.

[0026] Preferably, the permanent magnet 5 is magnetized in a parallel, axial, or Halbach manner.

[0027] Preferably, the permanent magnets 5 of the secondary module are arranged alternately along the NS axis, and the circumferential magnetization direction is the same.

[0028] The beneficial effects of this invention are:

[0029] 1. Modular design enhances flexibility and scalability, facilitating maintenance and replacement.

[0030] The axial segmentation of the primary module in the motor of this invention makes the motor more modular, and the position of the primary module and the arrangement of the armature windings can be flexibly adjusted according to actual needs, which can realize a variety of variations and greatly broaden the design flexibility and scalability.

[0031] 2. Axial misalignment weakens the end force, reducing thrust fluctuation by 40%-60%.

[0032] This invention changes the position of the primary module by axial misalignment, thereby altering the phase of the force at the end of the primary module. This reduces the overall resultant force at the end of the linear motor and improves the problem of large end force and high thrust fluctuation caused by end interruption in linear motors. Furthermore, by reconfiguring the winding arrangement, the impact of axial misalignment on the back EMF of the motor is reduced, ensuring the electromagnetic performance of the motor.

[0033] 3. The modular structure means that when the motor fails, only the damaged module needs to be repaired or replaced, without scrapping the entire machine, thus reducing maintenance and repair costs.

[0034] 4. Compared with existing axial misalignment motors, the motor of the present invention has a smaller impact on back EMF and output thrust, and a better suppression effect on thrust fluctuation. At the same time, it can avoid the problem of asymmetric motor normal force caused by axial misalignment. The motor of the present invention is conducive to the stable operation of the motor. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the axial segmented staggered polygonal permanent magnet synchronous linear motor structure described in Embodiment 1, with the windings using cross-tooth winding;

[0036] Figure 2 This is a schematic diagram of the armature winding arrangement of the motor in Embodiment 1, where... Figure 2 (a) is a schematic diagram of the initial position and winding arrangement of the mother module in the primary module; Figure 2 (b) Schematic diagram of the initial position and reconstructed winding arrangement of the two sub-modules after axial misalignment in Example 1;

[0037] Figure 3 This is a schematic diagram of the structure of an existing polygonal permanent magnet synchronous linear motor after the windings are connected.

[0038] Figure 4 This is a schematic diagram of the initial position and winding arrangement of the primary module of an existing polygonal permanent magnet synchronous linear motor;

[0039] Figure 5 This is a comparison chart of the back EMF performance of Example 1; where... Figure 5 (a) is a waveform diagram of the no-load back EMF of an existing motor; Figure 5 (b) is the no-load back EMF waveform diagram of the motor of the present invention; Figure 5 (c) is a comparison chart of the FFT analysis of the no-load back EMF of phase A of the existing motor and the motor of the present invention;

[0040] Figure 6 This is a comparison chart of thrust fluctuation performance in Example 1; where... Figure 6 (a) is a comparison diagram of the no-load thrust of existing motors and the motor of the present invention; Figure 6 (b) is a comparison chart of the no-load thrust of the existing motor and the motor of the present invention using FFT analysis.

[0041] Figure 7 This is a comparison diagram of the load thrust of an existing motor and the motor of Embodiment 1 of the present invention;

[0042] Figure 8 This is a schematic diagram of the structure of an axially segmented staggered polygonal permanent magnet synchronous linear motor as described in Embodiment 2, wherein the armature winding adopts a cross-tooth winding connection;

[0043] Figure 9 This is a schematic diagram of the motor structure described in Embodiment 2, showing the initial position of the two sub-primary modules after axial misalignment and the reconstructed winding arrangement;

[0044] Figure 10 This is a comparison chart of the back electromotive force performance in Example 2; where... Figure 10 (a) is the no-load back EMF waveform of the motor of the present invention; Figure 10 (b) is a comparison chart of the FFT analysis of the no-load back EMF of phase A of the existing motor and the motor of the present invention;

[0045] Figure 11 This is a comparison chart of thrust fluctuation performance in Example 2; where... Figure 11 (a) is a comparison diagram of the no-load thrust of existing motors and the motor of the present invention; Figure 11 (b) is a comparison chart of the no-load thrust of the existing motor and the motor of the present invention using FFT analysis.

[0046] Figure 12 This is a comparison diagram of the load thrust of the existing motor and the motor of the present invention in Example 2. Detailed Implementation

[0047] 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.

[0048] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0049] 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.

[0050] Specific Implementation Method 1: The following is combined with... Figures 1 to 12 This embodiment describes an axially segmented, staggered polygonal permanent magnet synchronous linear motor, including...

[0051] Six primary modules are arranged in a polygonal layout on the outside;

[0052] And a secondary module, located at the center of the polygon layout, is a cuboid frame structure with openings at both ends, and has the same air gap distance as all primary modules;

[0053] The six primary modules include two parent modules 1 and four sub-modules 2. The length of parent module 1 is twice that of sub-modules 2, and the number of poles and slots of sub-modules 2 is half that of parent module 1.

[0054] Each side of the secondary module is provided with one mother module 1 or two sub-modules 2, and the structure is symmetrical with respect to the primary module structure on the two sides; the two sub-modules 2 located on the same side are axially offset with the central axis of the mother module 1 as the reference, and the winding is reconfigured.

[0055] The armature windings of each phase of any primary module are connected in series or in parallel to form a phase winding, and the six primary modules are connected in series in the same phase winding.

[0056] The segmentation of the primary module, the axial misalignment distance to the central axis, and the arrangement of the reconfigured windings are the key points of this invention. Existing polygonal permanent magnet synchronous linear motors use ring-shaped armature windings. (See [link to previous document]). Figure 3 As shown, the initial position and winding arrangement of the primary modules are the same, and the motor forms a symmetrical structure along the circumferential direction. Therefore, the total end force of the motor and the resultant force of the end forces of each primary module are algebraically superimposed. Consequently, the motor suffers from large end forces and high thrust fluctuations. End forces: Axial thrust fluctuations caused by magnetic field distortion at the ends of the linear motor lead to unstable motion; Normal forces: Radial attraction between the primary and secondary windings causes vibration of the motor frame. To solve this problem, the axially segmented staggered polygonal permanent magnet synchronous linear motor of this invention forms an axially staggered structure by segmenting, adjusting the position of the primary modules, and reconstructing the winding arrangement, thereby weakening the end forces and reducing thrust fluctuations. Compared with existing axially staggered motors, the motor of this invention has a smaller impact on back EMF and output thrust, better suppression of thrust fluctuations, and avoids the problem of asymmetrical normal forces caused by axial staggering. The motor of this invention is beneficial to the stable operation of the motor system.

[0057] The modular design features six primary modules (two parent and four child modules) that enable high reconfigurability, facilitating repair and replacement and reducing maintenance costs.

[0058] An axial misalignment structure is adopted: the sub-module is misaligned with the central axis of the mother module as a reference, changing the phase of the end force and directly weakening the axial thrust fluctuation (40.66% reduction in Example 1 and 60.66% reduction in Example 2).

[0059] Series windings are used: six modules in the same phase are connected in series to ensure current consistency, avoid circulating current problems caused by parallel connection, and improve electromagnetic stability.

[0060] The design concept of this invention is as follows: First, a mother module with the same structure is set on four sides. Then, the mother module on one of the opposite sides is changed, and the mother module is divided into two sub-modules. The windings of the two sub-modules are reconstructed to make them different from the winding architecture of the original mother module.

[0061] Two sub-modules 2 on the same side are symmetrically misaligned with respect to the central axis of the parent module 1, and the electrical angle β corresponding to the misalignment distance satisfies one of the following two conditions:

[0062] Case 1: Assuming the back electromotive force remains constant, β = 2kτ - (mn) × α;

[0063] In the formula, τ is the electric angle of the electrode distance, τ=180°;

[0064] k is an integer, k = ±1. When the number of slots in the mother module 1 is greater than the number of poles, the offset k of the sub-module on the left side of the central axis is -1, and the offset k of the sub-module on the right side of the central axis is +1. When the number of slots in the mother module 1 is less than the number of poles, the offset k of the sub-module on the left side of the central axis is +1, and the offset k of the sub-module on the right side of the central axis is -1.

[0065] α is the electrical angle of the motor slot, α=360°×P / Z, where P is the number of pole pairs of mother module 1 and Z is the number of slots of mother module 1;

[0066] (mn) represents the number of slots moved by each phase winding during winding reconfiguration; n and m are the slot numbers of phase A winding before and after reconfiguration, respectively. The remaining phases are moved by (mn) slots in sequence to maintain the symmetry of the three-phase windings.

[0067] (mn)×α is the phase offset caused by winding reconfiguration;

[0068] Phase shift is completely offset by precise matching of misalignment distance and winding reconfiguration.

[0069] Scenario 2: Minimizing thrust fluctuation. And by adjusting the winding reconfiguration scheme, To minimize the impact of misalignment on the back EMF, the submodule should be positioned as close to 2kτ as possible, with negative values ​​to the left and positive values ​​to the right of the central axis.

[0070] A fixed 45° electrical angle misalignment (τ / 4) directly targets the end-force principal harmonics, achieving optimal ripple suppression. This is achieved by adjusting the winding reconfiguration scheme. To approximate 2kτ, phase compensation optimization is performed to minimize back EMF loss.

[0071] The two misalignment formulas mentioned above achieve zero back EMF loss or effective suppression of fluctuations, respectively. From a single perspective, misalignment along the central axis weakens the fundamental component of the end force on the sub-module side. From an overall perspective, misalignment also causes a phase difference between the left and right end forces on the sub-module side and the left and right end forces on the mother module side, further weakening the resultant force of the end forces rather than superimposing it. The phase difference between the back EMF of each phase winding of the sub-module and the mother module caused by misalignment is compensated by winding reconstruction to eliminate or minimize the phase difference, thereby ensuring the thrust performance of the motor.

[0072] In the first scenario, there is no phase difference in the back EMF between the axially misaligned primary modules, but there is a phase difference in the end force. This can weaken the end force and reduce thrust fluctuation without affecting the average thrust. In the second scenario, the weakening effect on the end force is better, but there is a certain phase difference between the windings of the primary modules, which slightly reduces the back EMF. However, compared with existing axially misaligned motors, the impact on back EMF and output thrust is smaller, and the suppression effect on thrust fluctuation is better.

[0073] The armature winding of the primary module is either single-layer or double-layer.

[0074] The core of the primary module is made of silicon steel sheet, amorphous alloy material or soft magnetic composite material.

[0075] The primary modules on two adjacent circumferential sides have different positions and armature winding arrangements, while the primary modules on two opposite sides have the same position and armature winding arrangement to counteract the normal force. When the primary modules on opposite sides have the same position and winding arrangement, the resulting normal forces are equal in magnitude and opposite in direction, and their combined force approaches zero. Counteracting the normal force reduces mechanical losses and extends bearing life.

[0076] The secondary module includes a secondary core 4 and permanent magnets 5. The secondary core 4 is a cuboid frame structure with openings at both ends, and the permanent magnets 5 are arranged on the four sides of the secondary core 4. The secondary core 4 is made of magnetically conductive or non-magnetically conductive materials.

[0077] When using magnetically conductive materials, the secondary core 4 can be made of silicon steel sheets, amorphous alloy materials, or soft magnetic composite materials.

[0078] When the secondary core 4 is made of non-magnetic material, aluminum alloy or titanium alloy can be selected.

[0079] The permanent magnet 5 is magnetized in parallel, axial, or Halbach manner.

[0080] The permanent magnets of the secondary module are arranged alternately along the 5 axes (NS), and the circumferential magnetization direction is the same.

[0081] The following examples illustrate this point:

[0082] Example 1, see Figures 1 to 7 The motor has a single-layer winding, three-phase, 12-slot, 10-pole configuration, with P=5 and Z=12.

[0083] In this example, the slot electrical angle is α = 360° × P / Z = 150°. Taking the mother module 1, with phase A as the starting phase, as the reference module, its initial position and winding arrangement are as follows: Figure 2 As shown in (a).

[0084] In the two axially misaligned sub-modules 2, the B-phase winding of the sub-module located on the left side of the central axis moves from the 3rd slot to the 1st slot, mn = -2, and the phase offset is -2α; the A-phase winding of the sub-module located on the right side of the central axis moves from the 7th slot to the 9th slot, mn = 2, and the phase offset is 2α.

[0085] This example uses the first scenario described above, where axial misalignment compensates for the phase change caused by the movement of phase A winding. Specifically, the axial misalignment distance of the submodule is measured in electrical angles. The left side is offset by k = -1, with an offset angle of β = 2kτ - (mn) × α = -60°; the right side is offset by k = +1, with an offset angle of β = 2kτ - (mn) × α = +60°. After the phase A winding is moved, the remaining phases are adjusted sequentially according to the slot potential star diagram to ensure symmetry of the three-phase windings. The position of the axially misaligned sub-primary module and the reconfigured winding arrangement are shown below. Figure 2 As shown in (b).

[0086] The following section uses a single-layer winding, three-phase, 12-slot, 10-pole configuration as an example to illustrate the performance of the axially segmented, staggered polygonal permanent magnet synchronous linear motor in this example.

[0087] Figure 5 (a) Provide the no-load back EMF waveform of the existing motor. Figure 5 (b) Provides the no-load back EMF waveform diagram of the motor of the present invention, combined with... Figure 5 (c) It can be seen that the no-load back EMF of the motor of the present invention is similar in magnitude to that of the existing motor, and the axial segmented misalignment structure has almost no effect on the magnitude of the no-load back EMF.

[0088] Figure 6 (a) is a comparison diagram of the no-load thrust of the existing motor and the motor of the present invention. It can be seen that the thrust fluctuation of the motor of the present invention under no-load conditions is significantly reduced compared with the thrust fluctuation of the existing motor. In this example, the peak value of the thrust fluctuation decreased from 1208.76N to 717.22N, a decrease of 40.66%, which is beneficial to improving the stability of the motor system.

[0089] Figure 6 (b) is a comparison chart of the FFT analysis of the no-load thrust of the existing motor and the motor of the present invention. It can be seen that the thrust fluctuation of the existing motor under no-load conditions mainly has the first and second harmonics, while the axial misalignment of the motor of the present invention weakens these harmonics, with a greater weakening of the first harmonic.

[0090] Figure 7 This is a comparison chart of the load thrust of the motor of the present invention and existing motors. It can be seen that the thrust fluctuation of the motor of the present invention under load is significantly reduced compared with that of existing motors, which is beneficial to improving the stability of the motor system.

[0091] Example 2, see also Figures 8 to 12The difference from Embodiment 1 is that the electrical angle corresponding to the staggered distance of the sub-modules is ±τ / 4. See the motor structure below. Figure 8 As shown.

[0092] In this example, the second scenario described above is used. The electrical angle corresponding to the shortest distance from the centerline of the sub-primary module to the mother primary module is τ / 4. The winding arrangement is reconstructed, and the slot electrical angle is α = 360° × P / Z = 150°. The mother module with phase A as the starting phase is used as the reference module, and its initial position and winding arrangement are as follows: Figure 2 As shown in (a), in the two sub-modules of the reconstructed winding, the B-phase winding of the sub-module located to the left of the central axis moves from slot 3 to slot 1, (mn) = -2; the A-phase winding of the sub-module located to the right of the central axis moves from slot 7 to slot 9, (mn) = 2. Therefore, the phase offset is -2α on the left and +2α on the right. In this example, after the phase offset on the left... After the phase shift on the right, There is only a 15° deviation between 345° and 2kτ=360°. The axially misaligned submodule and the reconfigured winding arrangement are as follows: Figure 9 As shown.

[0093] Figure 10 (a) Provides the no-load back EMF waveform diagram of the motor of the present invention, combined with... Figure 10 (b) It can be seen that the no-load back EMF of the motor of the present invention is slightly lower than that of the existing motor, and the axial misalignment structure of the second case has a slight effect on the no-load back EMF.

[0094] Figure 11 (a) is a comparison of the no-load thrust of the existing motor and the motor of the present invention. It can be seen that the thrust fluctuation of the motor of the present invention under no-load conditions is significantly reduced compared with the thrust fluctuation of the existing motor. In this example, the peak value of the thrust fluctuation decreased from 1208.76N to 475.43N, a decrease of 60.66%, which is beneficial to improving the stability of the motor system.

[0095] Figure 11 (b) is a comparison chart of the FFT analysis of the no-load thrust of the existing motor and the motor of the present invention. It can be seen that the thrust fluctuation of the existing motor under no-load conditions mainly has the first and second harmonics, while the axial segmentation of the motor of the present invention has a significant weakening effect on the first harmonic.

[0096] Figure 12 This is a comparison chart of the load thrust of the motor of the present invention and existing motors. It can be seen that the thrust fluctuation of the motor of the present invention under load is significantly reduced compared with that of existing motors, which is beneficial to improving the stability of the motor system.

[0097] 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. An axially segmented, staggered polygonal permanent magnet synchronous linear motor, characterized in that, include Six primary modules are arranged on the outside in a polygonal layout; And a secondary module, located at the center of the polygon layout, is a cuboid frame structure with openings at both ends, and has the same air gap distance as all primary modules; The six primary modules include two parent modules (1) and four sub-modules (2), wherein the length of the parent module (1) is twice that of the sub-modules (2), and the number of poles and slots of the sub-modules (2) is half that of the parent module (1); Each side of the secondary module is provided with a mother module (1) or two sub-modules (2), and the structure of the primary module is symmetrical to the two sides; the two sub-modules (2) located on the same side are axially offset with the central axis of the mother module (1) as the reference, and the winding is reconfigured. The armature windings (3) of each phase of any primary module are connected in series or in parallel to form a phase winding, and the six primary modules are connected in series in the same phase winding. The two sub-modules (2) on the same side are symmetrically offset relative to the central axis of the mother module (1), and the offset distance corresponds to the electrical angle. One of the following two conditions must be met: Case 1: Assuming the back electromotive force remains constant. ; In the formula, The electrode distance is the electrical angle. =180°; It is an integer. When the number of slots in the mother module (1) is greater than the number of poles, the sub-module on the left side of the central axis is offset. Set to -1, offset the submodule to the right of the central axis. Take +1; When the number of slots in the parent module (1) is less than the number of poles, the sub-module on the left side of the central axis is offset. Take +1, offset the sub-module to the right of the central axis. Take -1; For the motor slot electrical angle, , Let the number of pole pairs of the parent module (1) be . The number of slots in the parent module (1); This represents the number of slots that each phase winding moves during winding reconfiguration; , These are the slot numbers before and after the reconstruction of phase A winding, and the remaining phases are moved sequentially. The position of each slot is to maintain the symmetry of the three-phase windings; This refers to the phase shift caused by winding reconfiguration. Scenario 2: Minimizing thrust fluctuation. And by adjusting the winding reconfiguration scheme, as close as possible Submodules located to the left of the central axis are negative, and those to the right are positive.

2. The axially segmented staggered polygonal permanent magnet synchronous linear motor according to claim 1, characterized in that, The armature winding of the primary module is either single-layer or double-layer.

3. The axially segmented staggered polygonal permanent magnet synchronous linear motor according to claim 1, characterized in that, The positions of the primary modules and the armature winding arrangements on two adjacent sides in the circumferential direction are different, while the positions of the primary modules and the armature winding arrangements on two opposite sides are the same to counteract the normal force.

4. The axially segmented staggered polygonal permanent magnet synchronous linear motor according to claim 1, characterized in that, The core of the primary module is made of silicon steel sheet, amorphous alloy material or soft magnetic composite material.

5. The axially segmented staggered polygonal permanent magnet synchronous linear motor according to claim 1, characterized in that, The secondary module includes a secondary core (4) and permanent magnets (5). The secondary core (4) is a cuboid frame structure with openings at both ends, and the permanent magnets (5) are arranged on the four sides of the secondary core (4). The secondary core (4) is made of magnetically conductive or non-magnetically conductive materials.

6. The axially segmented staggered polygonal permanent magnet synchronous linear motor according to claim 5, characterized in that, When using magnetic materials for the secondary core (4), silicon steel sheets, amorphous alloy materials or soft magnetic composite materials are selected.

7. The axially segmented staggered polygonal permanent magnet synchronous linear motor according to claim 5, characterized in that, When using non-magnetic materials for the secondary core (4), aluminum alloy or titanium alloy should be selected.

8. The axially segmented staggered polygonal permanent magnet synchronous linear motor according to claim 5, characterized in that, The permanent magnet (5) is magnetized in parallel, axial or Halbach manner.

9. The axially segmented staggered polygonal permanent magnet synchronous linear motor according to claim 5, characterized in that, The permanent magnets (5) of the secondary module are arranged alternately along the axial direction NS, and the circumferential magnetization direction is the same.

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