High-power-density and high-reliability tubular motor and system

Abstract

The invention relates to the technical field of linear motion, in particular to a high-power-density and high-reliability tubular motor and system, and the system comprises a connection slow release module, a resistance adjustment module, a lag correction module, a heat flow evaluation module and a state maintenance module. According to the method, gradient structure parameters and thermally induced elastic response characteristics of an axial connecting section of a stator shell are extracted, a periodic locking state evolution process is established in combination with a relation between a locking groove angle and pressure application, and pressure release and spring stress correction are implemented by virtue of contact surface change and elastic resilience difference caused by temperature rise; the influence trend of conduction behavior on conductor resistance evolution is dynamically analyzed in a power-on period, time sequence optimization and balance adjustment of a through-flow path are promoted, the difference between resistance change lag and current fluctuation under thermal response is matched, the time difference between thermal lag amplitude and electrical response is analyzed, and the time difference between the thermal lag amplitude and the electrical response is calculated. And the capability, the operation reliability and the power density maintenance level of the connection structure in a periodic temperature rise environment are effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of linear motion, in particular to a tubular motor with high power density and high reliability and a system. BACKGROUND

[0002] The technical field of linear motion relates to devices and systems that convert energy into linear displacement. The core issues include control methods of driving sources, structural design of transmission mechanisms, precise adjustment of stroke and speed, improvement of load bearing capacity, and stability and controllability during motion. In this technical field, widely used devices include electric push rods, linear motors, pneumatic and hydraulic actuators, etc. These devices are used in automation equipment, industrial control systems, smart homes, and office equipment to achieve linear driving control of components such as doors, windows, sunshade systems, and lifting platforms. The development of linear motion technology focuses on improving driving efficiency, reducing structural size, and enhancing system reliability and environmental adaptability. In particular, the integration design of driving motors and reduction structures and the stroke control at extreme positions are key to design optimization. Among them, the traditional tubular motor refers to a motor system that integrates the rotor, stator, reduction structure, and limit control mechanism into a cylindrical shell to drive linear motion loads such as roller shutters, curtains, and overhead doors. The system sets the upper and lower limit positions through the stroke mechanism, completes the rotary drive by the motor, and adjusts the rotation speed and torque through the reduction mechanism. The technical issue is how to achieve higher power density and higher operating reliability in a compact structure. The traditional tubular motor uses the stator winding magnetic field to drive the rotor to rotate, cooperates with the planetary gear reduction assembly to reduce the output rotation speed and enhance the output torque, and controls the motor stop position through mechanical cam or Hall element. The above structure has problems such as heat accumulation, component wear, and unstable transmission under high load and long-term operation, which restricts the reliability and power output capacity. This application proposes a tubular motor with high power density and high reliability and an application system to optimize the electromagnetic structure, improve the reduction method, and structure the limit component to achieve the function.

[0003] The existing tubular motor controls the position and driving output through planetary gear reduction and mechanical limit between the stator winding and the rotor. Under long-term operation and high load conditions, the internal temperature continues to rise due to the gradual accumulation of heat in the stator cavity, causing local expansion of the connecting structure and compression deformation of the elastic components, which makes it difficult to achieve effective dynamic adjustment and pressure stability control. The increasing trend of resistance in the flow section and the thermal hysteresis effect cannot be finely identified, causing current response to have a delay fluctuation, which easily leads to problems such as vibration, wear, and unstable torque output during operation, limiting the power density maintenance capability and structural stability guarantee level under high-strength load and long-term continuous driving. SUMMARY

[0004] In order to solve the technical problems in the prior art that in the context of long-time operation and high load, due to the gradual accumulation of heat in the stator cavity, the internal temperature continues to rise, causing the local expansion of the connecting structure and the cumulative compression deformation of the elastic component, making it difficult to achieve effective dynamic adjustment and pressure stability control, the resistance growth trend of the through-flow section and the thermal hysteresis effect cannot be finely identified, causing the current response to exist delay fluctuation, which is easy to cause vibration, wear and torque output instability in the running process, limiting the power density maintenance capability and structure stability guarantee level under high strength load and long period continuous driving, the embodiment of the present application provides a tubular motor with high power density and high reliability. The technical scheme is as follows: On the one hand, a tubular motor system with high power density and high reliability is provided, which comprises: The connecting slow-release module obtains the slot gradient structure size of the axial connecting section of the tubular motor stator shell, the thermal response modulus curve of the elastic component, the locking groove wedge angle range and the initial applied pressure of the drive, compares the elastic rebound distance according to the structure temperature rise value and the spring compression displacement collected in the running period, and generates a thermal induction connection loosening behavior trajectory data set; The resistance adjustment module obtains the through-flow start and end time and the end voltage change sequence in the winding power-on period based on the thermal induction connection loosening behavior trajectory data set, locates the through-flow section and calculates the voltage slope change rate in the period, and generates a winding section inter-conduction uneven response feature; The hysteresis correction module calculates the response delay difference between the period resistance change trend and the current fluctuation trend according to the winding section inter-conduction uneven response feature, and generates a response delay amplitude value caused by thermal hysteresis; The heat flow evaluation module uses the response delay amplitude value caused by thermal hysteresis to collect the stator cavity wall thickness, the thermal conductivity of the insulating material, the winding spacing layout parameters and the temperature rise growth rate per unit power-on time, calculates the heat flow distribution gravity center and the thermal energy retention area position, and generates a heat energy accumulation migration trend.

[0005] As a further scheme of the present application, the thermal induction connection loosening behavior trajectory data set includes the locking surface contact width change value, the elastic rebound limit overrun value, the pressure release level difference, and the spring initial stress correction amount, the winding section inter-conduction uneven response feature includes the through-flow section voltage slope change rate set, the conductor resistance growth trend judgment value, and the current application period correction range, the response delay amplitude value includes the resistance change trend hysteresis difference, the current fluctuation trend response difference, and the unit period delay amplitude, and the heat energy accumulation migration trend includes the heat flow distribution gravity center position, the thermal energy retention area coordinates, and the heat source point heat flow path set.

[0006] As a further scheme of the present application, the connecting slow-release module comprises: The gradient structure parameter extraction submodule obtains the slot body gradient structure size of the axial connecting section of the tubular motor stator shell, the thermal response modulus curve of the elastic assembly, the locking groove wedge angle range, and the initial applied pressure of the drive, divides the slot body gradient structure size into sections, extracts the deformation variable data sequence according to the axial position, synchronously calibrates the temperature interval and modulus turning point in the thermal response modulus curve of the elastic assembly, calculates the wedge pressure stress change per unit angle through the locking groove wedge angle range and the applied pressure, and generates the connecting section gradient pressure stress change distribution value; The thermal response and springback determination submodule calls the connecting section gradient pressure stress change distribution value, compares the modulus section corresponding to the temperature rise and the stress interval change amplitude according to the structure temperature rise value and the spring compression displacement collected in the running period, extracts the locking surface contact width change in the period, and synchronously matches the displacement rebound amplitude in the spring compression displacement restoration interval, calculates whether the difference value exceeds the upper boundary of the wedge limit interval, and obtains the locking critical springback overrun identification information; The pressure release correction submodule screens the corresponding overrun period number according to the locking critical springback overrun identification information, extracts the applied pressure value and the spring initial stress value, sets the pressure correction step value according to the period number, reconstructs the initial pressure configuration group, and generates the thermal induction connection loosening behavior trajectory data set.

[0007] As a further scheme of the present application, the resistance adjustment module comprises: The current flow data extraction submodule obtains the current flow start and end time and the end voltage change sequence in the winding energization period based on the thermal induction connection loosening behavior trajectory data set, constructs the voltage time segmentation model in the period, extracts the duration between the current flow start and end time, and obtains the winding current flow time length set; The resistance change trend determination submodule calls the winding current flow time length set, locates the voltage slope change rate in the corresponding current flow section, calculates the average voltage slope in the time window according to the start and end points of the current flow section in the voltage change sequence, jointly calculates the estimated resistance increment per unit length based on the measured slope value, the conductor cross-sectional area, and the current flow path ratio, judges whether the resistance increment exceeds the winding design bearing range, and generates the resistance growth trend overrun discrimination result; The current period correction submodule screens the current flow section period number marked as an overrun state according to the resistance growth trend overrun discrimination result, extracts the original current application period parameters, and linearly reduces and adjusts the period parameters according to the preset correction interval value, and generates the winding section conduction imbalance response feature.

[0008] As a further scheme of the present application, the hysteresis correction module comprises: The period characteristic extraction submodule extracts a current change amplitude sequence, a winding average voltage response curve slope sequence and a driving rotating speed change ratio sequence corresponding to a period based on the winding segment conduction imbalance response characteristic, and sequentially synchronously processes the three types of data to generate a period electrical characteristic joint feature set; The response delay difference calculation submodule calls the period electrical characteristic joint feature set, calculates a main response point delay duration of the resistance change trend waveform and the current fluctuation trend waveform in a unit period according to a time position difference, and combines a winding average voltage response curve slope change rate to correct a starting error to obtain a response delay amplitude value caused by thermal hysteresis.

[0009] As a further scheme of the present application, the heat flow evaluation module comprises: The heat flow path construction submodule collects a stator cavity wall thickness parameter, an insulation material thermal conductivity, a winding spacing layout parameter and a temperature rise growth rate in a unit power-on time based on the response delay amplitude value caused by thermal hysteresis, calculates a heat flow conduction rate of a differential spatial point in a unit time, and generates a motor internal heat source point heat flow density path set; The heat distribution gravity calculation submodule calls the motor internal heat source point heat flow density path set, calculates a whole heat flow density distribution gravity according to a path unit area heat density value and a coordinate position in the stator cavity space, identifies a gravity moving track in a time slice, and obtains a heat flow distribution gravity position sequence; The heat energy retention migration judgment submodule filters a spatial node with a heat density change amount lower than a heat conduction threshold value and calculates a spatial distribution range according to the heat flow distribution gravity position sequence and a path point heat flow density change trend in a unit time, superimposes a region and a stator cavity geometric boundary, extracts a heat energy accumulation interval and records a migration direction in time sequence, and generates a pipe internal heat energy accumulation migration trend.

[0010] As a further scheme of the present application, when the response delay amplitude value caused by thermal hysteresis is greater than a preset threshold value, the collection frequency of the temperature rise growth rate in a unit power-on time is optimized to once every 0.1 second; The combination range of the winding spacing layout parameter and the stator cavity wall thickness parameter is limited to a winding spacing not less than 2 millimeters and a stator cavity wall thickness less than 8 millimeters; The insulation material thermal conductivity is selected in a range of 0.2 to 0.5 watts per meter per kelvin, and in the calculation process of the heat flow conduction rate of the differential spatial point in a unit time, a path with a unit area heat density value greater than 0.8 watts per square centimeter in the heat source point heat flow density path set is preferentially calculated.

[0011] As a further scheme of the present application, the system further comprises a state holding module: The state holding module calls the in-pipe thermal energy accumulation migration trend, extracts the spring deformation amplitude and the locking point contact displacement difference in the temperature rise path, calls the controller, resets the deformable space and the limiting angle range of the elastic component in the corresponding groove in the connection area, updates the locking limiting structure according to the newly set adjustable displacement value, constructs the buffer matching relationship between the locking component and the operating temperature rise, and generates the connection structure dynamic pressure maintenance result. The connection structure dynamic pressure maintenance result includes the deformable space of the elastic component, the updated parameters of the locking limiting structure, and the operating temperature rise buffer matching relationship.

[0012] As a further scheme of the present application, the state holding module comprises: The elastic regulation sub-module calls the in-pipe thermal energy accumulation migration trend, extracts the spring deformation amplitude and the locking point contact displacement difference in the temperature rise path, calculates the elastic component response limit of the groove area according to the position corresponding relationship, compares the elastic component response limit with the real-time groove structure space boundary, adjusts the deformable space and the limiting angle boundary value of the elastic component in the groove, and generates the groove area elastic regulation reset parameter group. The locking structure dynamic adjustment sub-module updates the initial limiting angle and the adjustable displacement of the locking limiting structure in the connection structure according to the groove area elastic regulation reset parameter group, constructs the dynamic buffer mapping relationship between the locking component and the operating temperature rise change by adjusting the tolerance interval between the locking structure boundary and the elastic component compression recovery path, and obtains the connection structure dynamic pressure maintenance result.

[0013] On the other hand, the high-power-density and high-reliability tubular motor is executed based on the above-mentioned high-power-density and high-reliability tubular motor system, comprising: As a stator magnet assembly, and as a rotor coil assembly composed of a magnesium-aluminum alloy shell and a coil fixed in its interior, one as a stator magnet assembly, the magnet assembly is fixed on the motor and the machine center shaft, and remains stationary; one as a rotor coil assembly, composed of a magnesium-aluminum alloy shell and a coil fixed circumferentially on the inner wall; The coil assembly includes 30 coils (m=3, 5 coils per phase), which are symmetrically divided into two groups of completely independent and electrically isolated three-phase star windings in physical space; the multi-phase output ends of the two groups of windings are connected in parallel and then led to the motor connection end, and a single motor driver is connected; At least one temperature control switch is integrated in the rotor coil assembly, which monitors the winding temperature and outputs a signal; The coil is wound with copper-clad aluminum material and is filled with epoxy adhesive for sealing treatment, so that the coil, the temperature control switch and the magnesium-aluminum alloy shell are combined into a solid whole; The magnet assembly as the stator adopts N50SH grade permanent magnet, the permanent magnet is fixed on the base of the stator through magnetic winding, and the independent magnet tube structure is removed; By increasing the outer diameter of the stator, the working gap between the stator and the rotor is reduced; The permanent magnets are isolated by a gasket with a thickness of 0.1 mm, and the magnetic gap is uniform and consistent; The electrical lead of the coil assembly adopts a Teflon insulated wire; The tubular motor includes a motor controller; the controller is connected with the parallel output end of the rotor, receives the signal of the temperature control switch, and is configured to perform overheat protection and control the working state of the two sets of windings.

[0014] The technical scheme provided by the embodiment of the application has at least the following beneficial effects: By extracting the gradient structure parameters of the stator shell axial connection section and the thermal induced elastic response characteristics, combining the locking groove angle and the pressure application relationship to establish the periodic locking state evolution process, and by means of the contact surface change and elastic rebound difference caused by temperature rise to implement pressure release and spring stress correction, the influence trend of the through-flow behavior on the conductor resistance evolution is dynamically analyzed within the power-on period, the timing optimization and balanced adjustment of the through-flow path are promoted, and the thermal hysteresis amplitude and the electrical response time difference are analyzed according to the thermal flow density path and the thermal energy distribution state to deduce the thermal accumulation migration direction. Through the adjustable matching of the locking limiting structure in the thermal deformation path, the pressure retention mechanism under thermal stress is reconstructed, and the ability and operation reliability of the connection structure in the periodic temperature rise environment and the power density maintenance level are effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0016] Figure 1 is a schematic diagram of the system provided by the embodiment of the present application; Figure 2 is a system framework schematic diagram of the present application; Figure 3 is a connection and slow-release module flow chart in the present application; Figure 4 is a resistance adjustment module flow chart in the present application; Figure 5 is a lag correction module flow chart in the present application; Figure 6A flow chart of a heat flow evaluation module in the application; Figure 7 A flow chart of a state holding module in the application; Figure 8 A schematic diagram of a tubular motor provided by an embodiment of the application. DETAILED DESCRIPTION

[0017] The technical solutions in the application will be described below with reference to the drawings.

[0018] In the embodiments of the application, the words such as "example", "for example" and the like are used to represent an example, illustration or description. Any embodiment or design scheme described as "example" in the application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the word "example" is intended to present a concept in a specific manner. In addition, in the embodiments of the application, the meaning expressed by "and / or" can be both, or can be one of the two.

[0019] In the embodiments of the application, "image" and "picture" can be used interchangeably at times, and it should be pointed out that the meanings expressed are consistent when the distinction is not emphasized. "Of", "corresponding" and "relevant" can be used interchangeably at times, and it should be pointed out that the meanings expressed are consistent when the distinction is not emphasized.

[0020] In the embodiments of the application, the subscript such as W1 can be written in the form of non-subscript such as W1 at times, and the meanings expressed are consistent when the distinction is not emphasized.

[0021] To make the technical problems, technical solutions and advantages to be solved by the application more clear, the following will be described in detail with reference to the drawings and specific embodiments.

[0022] The embodiments of the application provide a tubular motor system with high power density and high reliability, as shown in the following. Figures 1-2 A schematic diagram of a tubular motor system with high power density and high reliability is shown in the following, and the system comprises the following. The connection slow-release module acquires the gradient structure size of a slot body of an axial connection section of a stator shell of the tubular motor, a thermal response modulus curve of an elastic component, a locking slot wedge angle range and a driving initial applied pressure, extracts a periodic locking surface contact width variation amplitude according to the structure temperature rise value and the spring compression displacement collected in a running period, and compares the elastic rebound distance, when the contact width decreases and the elastic rebound exceeds the wedge limit, the locking pressure is released in steps and the spring initial stress is corrected, and a heat-induced connection loosening behavior trajectory data set is generated; The resistance adjustment module obtains the current flow start and end time and the voltage change sequence at the end point in the winding current flow period based on the thermal induction connection loosening behavior trajectory data set, extracts the winding current flow time length set, locates the current flow section and calculates the voltage slope change rate in the period, judges whether the corresponding resistance growth trend exceeds the winding design bearing range in combination with the conductor cross-sectional area and the current flow path ratio, and if it exceeds, corrects the current flow section current application period to generate the winding section inter-conduction imbalance response feature; The hysteresis correction module extracts the current change amplitude, winding average voltage response curve slope and driving speed change ratio in the unit period according to the winding section inter-conduction imbalance response feature, calculates the response delay difference between the period resistance change trend and the current fluctuation trend, and generates the response delay amplitude value caused by thermal hysteresis; The heat flow evaluation module adopts the response delay amplitude value caused by thermal hysteresis, collects the stator cavity wall thickness, insulation material thermal conductivity, winding spacing layout parameters and temperature rise growth rate in unit current flow time, constructs the heat source point heat flow density path set in the motor internal, calculates the heat flow distribution center and the position of the heat energy retention area, and generates the heat energy accumulation migration trend in the pipe; The state retention module calls the heat energy accumulation migration trend in the pipe, extracts the spring deformation amplitude and the locking point contact displacement difference value in the temperature rise path, calls the controller, resets the deformable space and the limiting angle range of the elastic component in the corresponding slot in the connection area, updates the locking limiting structure according to the newly set adjustable displacement value, constructs the buffer matching relationship between the locking component and the operating temperature rise, and generates the connection structure dynamic pressure maintenance result; The thermal induction connection loosening behavior trajectory data set includes the locking surface contact width change value, the elastic rebound limit overrun value, the pressure release level difference, and the spring initial stress correction amount. The winding section inter-conduction imbalance response feature includes the voltage slope change rate set of the current flow section, the conductor resistance growth trend judgment value, and the current application period correction range. The response delay amplitude value includes the resistance change trend hysteresis difference, the current fluctuation trend response difference, and the unit period delay amplitude. The heat energy accumulation migration trend includes the heat flow distribution center position, the heat energy retention area coordinates, and the heat source point heat flow path set. The connection structure dynamic pressure maintenance result includes the deformable space of the elastic component, the locking limiting structure update parameters, and the operating temperature rise buffer matching relationship.

[0023] Specifically, as shown in Figure 2 , 3 The connection buffer release module includes: The gradient structure parameter extraction submodule obtains the gradient structure size of the slot body of the axial connecting section of the tubular motor stator shell, the thermal response modulus curve of the elastic component, the locking groove wedge angle range, and the initial applied pressure intensity of the drive, divides the slot body gradient structure size into sections, extracts the deformation variable data sequence according to the axial position, synchronously calibrates the temperature interval and modulus turning point in the thermal response modulus curve of the elastic component, calculates the wedge pressure stress change per unit angle by the locking groove wedge angle range and the applied pressure, and generates the connecting section gradient pressure stress change distribution value; The axial connecting section of the stator shell is modeled with high precision by using a three-dimensional scanning device, the geometric shape change characteristics of the slot body along the axial direction are obtained, and the geometric characteristics are divided into several axial segmented sections, the length of each section can be set according to the total length and the analysis accuracy, for example, the total length of 100 mm is divided into 10 sections, each section is 10 mm, the key dimensions such as the width, depth and wall thickness of each section of the slot body are extracted; the extracted size data is recorded in the structure data table, and is associated with the modulus response data and the pressure stress data; the thermal response modulus curve of the elastic component is obtained by the material thermal response test equipment in the laboratory, the modulus response of the component at different temperatures is tested during the test process, the temperature and modulus correlation data sequence is formed, the temperature point at which the modulus changes significantly is taken as the turning point for calibration, and the calibration process needs to be mapped with the axial segmentation position to determine the thermal response critical section; the locking groove wedge angle range is obtained according to the structure drawing or 3D model data to obtain the structure angle difference of the maximum and minimum embedding force, combined with the initial pressure intensity parameter, the pressure stress change per unit angle during the wedge process is calculated, according to the angle-pressure change relationship, the axial sections are synchronously processed, and the connecting section gradient pressure stress change distribution value is generated.

[0024] The thermal response and rebound determination submodule calls the connecting section gradient pressure stress change distribution value, compares the modulus section and stress interval change amplitude corresponding to the temperature rise according to the collected structure temperature rise value and spring compression displacement in the running period, extracts the locking surface contact width change in the period, and synchronously matches the displacement rebound amplitude in the spring compression displacement restoration interval, calculates whether the difference exceeds the upper boundary of the wedge limit interval, obtains the locking critical rebound out-of-limit identification information; The temperature rise data and the compression displacement data of the spring assembly of the stator shell connecting section are collected in the running cycle. The data is collected in real time by the temperature sensors and displacement sensors arranged at the key positions of the structure. The collection cycle can be set to once per minute. The temperature and displacement change sequences in the whole running cycle are recorded continuously. After the data collection is completed, the temperature sequence is corresponded to the modulus change interval of the elastic assembly. It is identified that the modulus changes significantly at which temperature rise stage. The modulus change position and the gradient pressure stress distribution are compared transversely. The stress section where the modulus change point is located is extracted. The maximum compression displacement and the running recovery displacement in the cycle are extracted according to the recorded displacement data. The rebound amplitude after compression is calculated. The trend of the amplitude change in different cycles is counted. The contact width change of the connecting section structure in the temperature rise stage is matched with the rebound displacement amplitude one by one. The difference between the rebound amplitude and the contact width change is analyzed. Whether the difference exceeds the allowable limit range of the structure is determined. When the difference continuously enlarges and exceeds the preset upper limit, the locking critical rebound over-limit identifier of the cycle is generated. The locking critical rebound over-limit identifier information is obtained.

[0025] The pressure release correction sub-module filters the corresponding over-limit cycle number and extracts the applied pressure value and the spring initial stress value according to the locking critical rebound over-limit identifier information. The pressure correction ladder value is set according to the cycle number. The initial pressure configuration group is reconstructed. The thermal induction connection loosening behavior trajectory data set is generated. According to the cycle number in the identifier, the initial pressure setting value and the initial prestress value of the spring in the corresponding cycle are extracted. The values are configured before the equipment starts and are recorded in the configuration table. In the correction process, the over-limit cycle is identified. An independent pressure correction channel is established for each cycle. The pressure correction step of each cycle is set. The hierarchical ladder method can be used, that is, as the cycle number increases, the pressure correction value is gradually increased or decreased, forming a correction strategy of hierarchical processing according to the cycle number. After the pressure correction, the pressure and spring stress configuration of each cycle need to be recombined to form a new initial loading state. The state is combined with the recorded temperature rise data and rebound displacement change information. The structure reaction after the pressure correction is simulated through back testing. Whether the contact state of the connecting section changes under the thermal induction process is observed. The control effect of the pressure correction on the connection loosening behavior is evaluated. If it is found that the connection rebound is still over-limit, the correction amplitude is continued to be increased in steps until the contact width change of the connecting section and the rebound displacement amplitude are restored to the allowable range. The pressure adjustment of each cycle, the connection state change, the thermal response curve and the corresponding rebound trend are collected to generate the thermal induction connection loosening behavior trajectory data set.

[0026] Specifically, as shown in Figure 2 , 4 The resistance adjustment module includes: The through-flow data extraction submodule obtains the through-flow start and end time and the end-point voltage change sequence in the through-flow period of the winding based on the heat-induced connection loosening behavior trajectory data set, constructs a voltage time segmentation model in the period, extracts the duration between the through-flow start and end time, and obtains a through-flow time length set of the winding; The time period related to the electrical connection state change is located, the structural response data corresponding to the power-on start and power-off stop time are focused on, the voltage change data of the winding in the power-on period collected by the external electrical measurement equipment is combined, the through-flow start and end time of each period is extracted, the time points can be obtained by the rising edge and falling edge of the voltage from zero mutation to stable value in the voltage change sequence, on the basis of obtaining the start and end time points, the entire voltage sequence is segmented according to the time axis, and each through-flow state is marked, a periodic voltage-time model is constructed, the duration length of each effective through-flow section in the model is extracted, and a complete data set is arranged, which can be used for quantitative comparison of the through-flow load time in the resistance change trend analysis process, in engineering examples, for example, when the duration in a through-flow period of a winding changes from 1.2 seconds to 1.8 seconds, it indicates that the through-flow load time has increased, which is related to the through-flow state change caused by the loosening of the structural connection or the temperature rise, such changes have a high correlation between thermal induction and mechanical structural response, and a through-flow time length set of the winding is obtained.

[0027] The resistance change trend determination submodule calls the through-flow time length set of the winding, locates the voltage slope change rate in the corresponding through-flow section, calculates the average voltage slope in the time window according to the start and end points of the through-flow section in the voltage change sequence, jointly calculates the estimated resistance increment per unit length based on the measured slope value, the cross-sectional area of the conductor and the through-flow path ratio, judges whether the resistance increment exceeds the design bearing range of the winding, and generates a resistance growth trend over-limit judgment result; The set of winding through-flow time length expansion analysis operation is called, each through-flow time period in the set is matched with actual voltage data, each time window interval is divided in each through-flow section with equal time steps, voltage variation in each time window is extracted, voltage variation slope in the interval is formed, the slope value is obtained by the difference between the start and end point voltage values divided by the duration, the average voltage slope of the time window in each through-flow section is counted as the representative value of the conductor state change in the current period; the voltage slope value is associated with the ratio of the conductor cross-sectional area to the through-flow path length in the winding structure parameter, the unit length resistance change is calculated according to the change of the through-flow path, the unit length estimated resistance increment is compared with the set upper limit of the allowable resistance growth in the winding design, if the former exceeds the latter, the over-limit state is judged, the over-limit discrimination result of the resistance growth trend is formed, for example, the estimated resistance increment is 0.45Ω / m in a certain period, and the design tolerance is 0.40Ω / m, then the period is marked as over-limit, the over-limit information record corresponding period number, voltage slope value and over-limit amplitude, and the resistance growth trend over-limit discrimination result is generated.

[0028] The current period correction sub-module selects the through-flow section period number marked as over-limit according to the resistance growth trend over-limit discrimination result, extracts the original current application period parameter, and linearly reduces and adjusts the period parameter according to the preset correction interval value, to generate the winding section through-uniform response characteristic; The period number marked as over-limit is selected, the period parameter setting in the original current control device is read, including the basic control parameters such as current amplitude, current opening duration, pulse interval, and an adjustment scheme is made according to the preset correction interval value, for example, if the original setting is 2.0 seconds, the period will be adjusted to 1.9 seconds after detecting over-limit, if over-limit occurs continuously, the linearly decreasing adjustment will continue; the adjustment process is independently carried out for each marked period, to ensure that the un-over-limit period is not affected; after the period parameter adjustment, the new period parameter is re-input into the execution sequence of the control device, the control logic is updated, and then it is run again, whether the resistance growth is successfully controlled in a reasonable range is analyzed by observing the resistance change and voltage slope response of the corresponding period after adjustment, the change state of the consistency of the electrical response of each section of the winding before and after adjustment is described, the overall cooperative stability is judged in combination with the structure connection and thermal response data, the optimization configuration of the current period is gradually completed, and the winding section through-uniform response characteristic is generated.

[0029] Specifically, as shown in Figure 2 , 5 The lag correction module includes: The period characteristic extraction submodule extracts the current change amplitude sequence, the winding average voltage response curve slope sequence and the driving speed change ratio sequence corresponding to the period based on the uneven conduction response characteristics between winding sections, respectively processes the three types of data in time sequence synchronization, and generates a period electrical characteristic joint feature set; The current change data recorded by the winding section in each independent running period needs to be normalized to unify the peak and valley values between different sections, and then the current change amplitude sequence is extracted, which reflects the change range distribution of the current in the unit period. At the same time, the average voltage response curve of the winding is extracted, and the change trend is analyzed according to the time sequence to obtain the slope information of the voltage curve at each time point, which is arranged into a continuous slope change sequence to reflect the trend of the voltage rising or falling rate at each time. The driving speed change ratio sequence is obtained based on the real-time speed data recorded by the motor main shaft sensor in the period, and the speed change sequence is formed by continuous sampling, and then the speed at the corresponding time in the previous period is processed by ratio to obtain the relative speed change in the period. After the above three types of data are obtained, they need to be processed synchronously according to the unified time axis, that is, the data points in the three types of data are aligned with a unified time resolution, and each time point has corresponding data values in the three types of data through interpolation or segmented matching to generate a period electrical characteristic joint feature set.

[0030] The response delay difference calculation submodule calls the period electrical characteristic joint feature set, calculates the delay time of the main response points of the resistance change trend waveform and the current fluctuation trend waveform according to the time position difference between the two in the unit period, and corrects the initial error combined with the slope change rate of the winding average voltage response curve to obtain the response delay amplitude value caused by thermal hysteresis; Based on the resistance change trend waveform, the main response point of the trend is found in the unit cycle, that is, the time point at which the resistance change amplitude reaches a local extreme value, which is represented as the position of resistance increment mutation or rapid rise. The main response point of current mutation is found in the current fluctuation trend waveform to identify the time position difference relative to the resistance waveform response point. The difference value is the preliminary delay length between the electrical and electrical responses. In order to improve the accuracy of delay judgment, the average voltage response curve slope change rate of the winding is also introduced to correct the trend of voltage change at the starting point. By observing the mutation point of the voltage slope, the true starting response position is identified and the starting offset error caused by signal jitter or lag is corrected. Combined with the main response point difference value and the voltage slope correction data, the actual response delay amplitude caused by thermal hysteresis is calculated. The delay value reflects the time influence range of thermal effect accumulated in the structure on electrical response. In engineering application, if the delay amplitude exceeds the allowed response lag interval in design, it indicates that there is significant inconsistency between electrical and thermal responses, and the current configuration or heat dissipation structure parameters need to be adjusted to alleviate the problem of asynchronous response caused by thermal hysteresis, and the response delay amplitude value caused by thermal hysteresis is obtained.

[0031] Specifically, as shown in Figure 2 , 6 , the thermal flow evaluation module includes: The thermal flow path construction submodule calculates the thermal flow conduction rate of the differentiated space points in unit time based on the response delay amplitude value caused by thermal hysteresis, collects the stator cavity wall thickness parameters, the thermal conductivity of the insulation material, the winding spacing layout parameters, and the temperature rise growth rate in unit energization time, and generates a set of motor internal heat source point thermal flow density paths. The wall thickness parameters of the stator cavity at each spatial position are collected from the structural design data. The parameters can be extracted from the geometric model output by the three-dimensional modeling software point by point to form a thickness distribution matrix covering the cavity surface. The thermal conductivity information of the insulation material used inside the stator is read. The thermal conductivity needs to be calibrated separately for different types of materials. If there are multiple insulation layers in the stator structure, they need to be numbered and classified by thermal properties respectively. The spacing layout parameters between windings are extracted, including the center distance between windings and the shortest heat conduction distance between windings and the cavity wall. Combined with the parameters, the thermal flow paths from each winding point to the inner wall of the cavity can be derived. Then the temperature rise growth rate of each path point in unit energization time is collected to form a temperature rise rate matrix. The data can be achieved by collecting temperature change records through thermocouples. After integrating the above parameters, the thermal flow conduction rate of each point in unit time is calculated based on the spatial coordinate point. The path length, material thermal conductivity, and temperature rise slope need to be considered in the calculation. The thermal flow density value of each path point during energization can be used to construct the thermal flow path map. The map starts from multiple heat source points and flows to the stator cavity wall along the shortest path. Each path carries unit area thermal density information, generating a set of motor internal heat source point thermal flow density paths.

[0032] The thermal distribution gravity calculation sub-module calls the motor internal heat source point heat flux density path set, calculates the overall heat flux density distribution gravity according to the path unit area heat density value and the coordinate position in the stator cavity space, identifies the gravity moving track in the time slice, and obtains the heat flux distribution gravity position sequence; The unit area heat density value of each path in the set is associated with the coordinate position in the three-dimensional space to form a spatial distribution data structure with a heat intensity label. The path points are processed point by point, that is, the path heat density value is used as the weight, and the spatial coordinates of the path points are weighted and averaged to obtain the heat flux density distribution gravity coordinates of the entire cavity in the current time slice. The process needs to be iterated according to multiple consecutive time points, the heat distribution gravity position in each time slice is recorded, and the gravity points are connected in time sequence to form a heat gravity moving track. The moving track can be characterized by gradually shifting in a certain direction between windings, and also showing the characteristics of local concentration and outward migration. By analyzing the spatial jumping amplitude and direction of the heat gravity between different time points, the energy accumulation and release trend between different structural regions can be judged. In actual testing, if it is found that the gravity continuously shifts from the position close to the center to the position close to the edge of the cavity, it indicates that the heat energy is gradually diffusing outward from the center, and the uneven characteristics of the heat response in different regions gradually appear. The generated heat flux distribution gravity position sequence constitutes the core basis of the time-space two-dimensional heat migration model, which is used for heat accumulation trend analysis and structure modification decision reference, and the heat flux distribution gravity position sequence is obtained.

[0033] The heat energy retention migration judgment sub-module filters the spatial nodes with a heat density change less than the heat conduction threshold value according to the heat flux distribution gravity position sequence and the heat flux density change trend in the unit time, calculates the spatial distribution range, judges the region and the stator cavity geometric boundary, extracts the heat energy accumulation interval, and records the migration direction in time sequence to generate the pipe heat energy accumulation migration trend. The gravity track path needs to be divided into segments, and the unit heat flux density change trend of each spatial node in the path is compared synchronously to identify the spatial nodes with a heat density change significantly lower than the overall conduction average rate in the unit time, define the nodes as heat conduction lag points, record the positions of the lag points, calculate the distribution range in the three-dimensional space according to the relative positions, and form a temporary heat energy accumulation area by enveloping the lag nodes in a three-dimensional grid. The geometric boundary of the heat energy retention area is overlapped with the actual structure boundary inside the stator cavity to judge whether the retention area has approached the structure limit edge. If there is an approach or overlap, it indicates that the area has formed a significant heat accumulation section. The moving direction of the heat accumulation area gravity between time intervals is recorded in time sequence to judge the trend of outward diffusion, shift along the winding through-flow direction, or local deposition in the insulation structure, and generate the pipe heat energy accumulation migration trend.

[0034] Specifically, as shown in Figure 2 , 7 , the state holding module includes: The elastic regulation sub-module calls the heat accumulation migration trend in the pipe, extracts the spring deformation amplitude and the contact displacement difference between the locking points corresponding to the position in the temperature rising path, calculates the elastic component response limit of the groove region according to the position correspondence, compares the elastic component response limit with the real-time groove structure space boundary, adjusts the deformable space and the limiting angle boundary value of the elastic component in the groove, and generates the groove area elastic regulation reset parameter group; The direction of the continuously rising temperature in the heat accumulation migration path is extracted, and each local position point corresponding to the connected groove structure is labeled on the path. The deformation amplitude data of the elastic component inside the groove is collected in the position point. The data is derived from the spring compression length change record under the heat loading state. The contact displacement difference between the locking point and the groove inner wall at each position is recorded at the same time, forming an elastic deformation and contact response comparison data set covering the whole path. According to the partition of the groove structure, the data is divided according to the spatial coordinate points, forming an elastic component response limit distribution diagram in the groove area, which represents the actual compressible displacement limit of the spring under the influence of heat accumulation. On this basis, the elastic response limit value of each groove partition is directly compared with the structure space boundary to determine whether the elastic component is over-pressured or the displacement is limited. If it is found that the spring compression amount in a certain section has approached or exceeded the maximum displacement allowed in the structure boundary, the deformable space of the component in the groove needs to be adjusted for compression tolerance, and the limiting angle boundary value is reset to prevent the locking surface from being contacted or deformed due to heat expansion. The maximum allowable displacement, the corrected limiting angle value and the deformable tolerance information of each partition are included as the input basis of the locking structure adjustment process, realizing the real-time adaptation of the elastic behavior under the condition of heat response and the repair of the structure prestress distribution, and generating the groove area elastic regulation reset parameter group.

[0035] The locking structure dynamic adjustment sub-module updates the initial limiting angle and adjustable displacement of the locking limiting structure in the connecting structure according to the groove area elastic regulation reset parameter group, adjusts the tolerance interval between the locking structure boundary and the compression recovery path of the elastic component, constructs the dynamic buffer mapping relationship between the locking component and the operating temperature rise change, and obtains the connecting structure dynamic pressure maintenance result. The limiting angle in each partition is compared with the original design configuration of the maximum deformation parameter and the locking structure, the structure paragraphs and the corresponding locking number that need to be adjusted are identified, the limiting angle parameter of the locking is reset, the original limiting angle value is increased or decreased according to the new parameter, and the maximum compressible displacement value of the elastic component is combined to reset the adjustable displacement range of the locking, and the locking structure configuration matching the new behavior range of the elastic component is formed; on the basis of the new configuration, the cooperation relationship between the structure boundary of the locking and the compression path of the elastic component is adjusted to ensure that there is a reasonable tolerance interval between them, the tolerance cannot be too small to limit the deformation in advance during thermal expansion, and the tolerance cannot be too large to cause locking failure or out-of-control rebound amplitude; the deformation response caused by thermal loading is mapped to the locking behavior change through the buffer relationship model formed by the tolerance interval, the thermal deformation process and the locking pressure response are dynamically associated through the mapping relationship, the dynamic maintenance ability reconstruction of the locking pressure under the structure thermal state is realized, and the dynamic pressure maintenance result of the connecting structure is obtained.

[0036] Please refer to Figure 8 , the tubular motor with high power density and high reliability is executed based on the above-mentioned tubular motor system with high power density and high reliability, comprising: a magnet assembly as a stator, and a coil assembly as a rotor composed of a magnesium-aluminum alloy shell and a coil fixed inside the shell, one magnet assembly as a stator, the magnet assembly is fixed on the motor and the center shaft of the machine table, and remains stationary; one coil assembly as a rotor, composed of a magnesium-aluminum alloy shell and a coil assembly fixed circumferentially on the inner wall; The coil assembly includes 30 coils (m=3, 5 coils per phase), which are symmetrically divided into two groups of completely independent and electrically isolated three-phase star windings in physical space; the multi-phase output ends of the two groups of windings are connected in parallel and then led to the motor connection end to connect a single motor driver; At least one temperature control switch integrated in the coil assembly of the rotor, which monitors the winding temperature and outputs a signal; The coil is wound with copper-clad aluminum material and sealed with epoxy adhesive, so that the coil, temperature control switch and magnesium-aluminum alloy shell are combined into a solid whole; The magnet assembly as a stator uses N50SH grade permanent magnet, which is fixed on the base of the stator through magnetic winding, and the independent magnet tube structure is removed; By increasing the outer diameter of the stator, the working gap between the stator and the rotor is reduced; The permanent magnets are isolated by a 0.1mm thick spacer, and the uniformity of the magnetic gap is verified; The electrical lead of the coil assembly uses Teflon insulated wire; The tubular motor comprises a motor controller; the controller is connected with parallel output ends of the mover and receives signals of the temperature control switch, and is configured to perform overheat protection and control working states of the two groups of windings.

[0037] The above merely illustrates the specific embodiments of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A high power density, high reliability tubular motor system, characterized by, The system comprises: The connection slow-release module obtains the slot gradient structure size of the axial connection section of the tubular motor stator shell, the thermal response modulus curve of the elastic component, the locking groove wedge angle range and the initial applied pressure of the drive, and generates the thermal induction connection loosening behavior trajectory dataset according to the collected structure temperature rise value and spring compression displacement within the operation cycle, and compares the elastic rebound distance. The resistance adjustment module obtains the through-flow start and end time and the end voltage change sequence within the winding power-on cycle based on the thermal induction connection loosening behavior trajectory dataset, locates the through-flow section and calculates the voltage slope change rate within the cycle, and generates the winding section inter-conduction imbalance response feature. The hysteresis correction module calculates the response delay difference between the cycle resistance change trend and the current fluctuation trend according to the winding section inter-conduction imbalance response feature, and generates the response delay amplitude value caused by thermal hysteresis. The heat flow evaluation module adopts the response delay amplitude value caused by thermal hysteresis, collects the stator cavity wall thickness, the thermal conductivity of the insulating material, the winding spacing layout parameters and the temperature rise growth rate per unit power-on time, calculates the heat flow distribution gravity center and the thermal energy retention area position, and generates the heat energy accumulation migration trend in the pipe.

2. The high power density, high reliability tubular motor system of claim 1, wherein: The thermal induction connection loosening behavior trajectory dataset includes the locking surface contact width change value, the elastic rebound limit overrun value, the pressure release level difference, and the spring initial stress correction amount. The winding section inter-conduction imbalance response feature includes the through-flow section voltage slope change rate set, the conductor resistance growth trend judgment value, and the current application cycle correction range. The response delay amplitude value includes the resistance change trend hysteresis difference, the current fluctuation trend response difference, and the unit cycle delay amplitude. The heat energy accumulation migration trend includes the heat flow distribution gravity center position, the thermal energy retention area coordinates, and the heat source point heat flow path set.

3. The high power density, high reliability tubular motor system of claim 1, wherein: The connection slow-release module comprises: The gradient structure parameter extraction submodule obtains the slot gradient structure size of the axial connection section of the tubular motor stator shell, the thermal response modulus curve of the elastic component, the locking groove wedge angle range and the initial applied pressure of the drive, and generates the thermal induction connection loosening behavior trajectory dataset according to the collected structure temperature rise value and spring compression displacement within the operation cycle, and compares the elastic rebound distance. The thermal response and rebound determination submodule calls the connection section gradient pressure stress change distribution value, collects the structure temperature rise value and spring compression displacement within the operation cycle, compares the temperature rise corresponding modulus section and the stress interval change amplitude in time sequence, extracts the locking surface contact width change amount, and synchronously matches the displacement rebound amplitude in the spring compression displacement restoration interval, calculates the difference value whether it exceeds the upper boundary of the wedge limit interval, and obtains the locking critical rebound overrun identification information. The pressure release correction submodule screens the corresponding overrun cycle number and extracts the applied pressure value and the spring initial stress value according to the locking critical rebound overrun identification information, sets the pressure correction step value in layers according to the cycle number and reconstructs the initial pressure configuration group, and generates the thermal induction connection loosening behavior trajectory dataset.

4. The high power density, high reliability tubular motor system of claim 3, wherein: The resistance adjustment module comprises: The through-flow data extraction submodule obtains the through-flow start and end time and the end voltage change sequence in the through-flow period of the winding based on the heat-induced connection loosening behavior trajectory data set, constructs a voltage time segmentation model in the period, extracts the duration between the through-flow start and end time, and obtains a winding through-flow time length set; The resistance change trend determination submodule calls the winding through-flow time length set, locates the voltage slope change rate in the corresponding through-flow section, calculates the average voltage slope in the time window according to the start and end points of the through-flow section in the voltage change sequence, jointly calculates the estimated resistance increment per unit length according to the measured slope value and the ratio of the conductor cross-sectional area and the through-flow path, judges whether the resistance increment exceeds the design bearing range of the winding, and generates a resistance growth trend over-limit judgment result; The current cycle correction submodule filters the through-flow section cycle number marked as an over-limit state according to the resistance growth trend over-limit judgment result, extracts the original current application cycle parameters, and linearly reduces and adjusts the cycle parameters according to a preset correction interval value to generate a winding section inter-conduction imbalance response feature.

5. The high power density, high reliability tubular motor system of claim 4, wherein: The hysteresis correction module comprises: The cycle feature extraction submodule extracts the current change amplitude sequence, the winding average voltage response curve slope sequence, and the driving speed change ratio sequence of the corresponding cycle in a unit cycle based on the winding section inter-conduction imbalance response feature, respectively processes the three types of data in time sequence synchronization, and generates a cycle electrical characteristic joint feature set; The response delay difference calculation submodule calls the cycle electrical characteristic joint feature set, calculates the main response point delay length of the resistance change trend waveform and the current fluctuation trend waveform in a unit cycle according to the time position difference, and combines the winding average voltage response curve slope change rate to correct the initial error to obtain the response delay amplitude value caused by thermal hysteresis.

6. The high power density, high reliability tubular motor system of claim 5, wherein: The heat flow evaluation module comprises: The heat flow path construction submodule calculates the heat flow conduction rate of the differentialized space points in a unit time based on the response delay amplitude value caused by thermal hysteresis, collects the stator cavity wall thickness parameters, the thermal conductivity of the insulating material, the winding spacing layout parameters, and the temperature rise growth rate per unit current application time, and generates a motor internal heat source point heat flow density path set; The heat distribution barycenter calculation submodule calls the motor internal heat source point heat flow density path set, calculates the overall heat flow density distribution barycenter according to the path unit area heat density value and the coordinate position in the stator cavity space, identifies the barycenter moving track in the time slice, and obtains a heat flow distribution barycenter position sequence; The heat energy retention migration determination submodule combines the heat flow density change trend of the path points per unit time according to the heat flow distribution barycenter position sequence, screens the space nodes with a heat density change amount lower than a heat conduction threshold value and calculates the spatial distribution range, superimposes the region and the stator cavity geometric boundary, extracts the heat energy accumulation interval and records the transfer direction in time sequence, and generates a heat energy accumulation migration trend in the pipe.

7. The high power density, high reliability tubular motor system of claim 6, wherein: When the response delay amplitude value caused by thermal hysteresis is greater than a preset threshold value, the collection frequency of the temperature rise growth rate per unit current application time is optimized to once every 0.1 second. The combination range of the winding spacing layout parameter and the stator cavity wall thickness parameter is limited to a winding spacing not less than 2 mm and a stator cavity wall thickness less than 8 mm; The heat conductivity coefficient of the insulation material is selected in the range of 0.2 to 0.5 W / m / K; in the calculation of the heat flow conduction rate of the differential space point per unit time, the paths with a unit area heat density value greater than 0.8 W / cm2 in the heat flow density path set of the heat source point are preferentially calculated.

8. The high power density, high reliability tubular motor system of claim 1, wherein: The system further comprises a state maintaining module: The state maintaining module calls the in-pipe thermal energy accumulation migration trend, extracts the spring deformation amplitude and the locking point contact displacement difference in the temperature rise path, calls the controller, resets the deformable space and the limiting angle range of the elastic component in the corresponding groove in the connection area, updates the locking limiting structure according to the newly set adjustable displacement value, constructs the buffer matching relationship between the locking component and the operating temperature rise, and generates the connection structure dynamic pressure maintenance result; The connection structure dynamic pressure maintenance result includes the deformable space of the elastic component, the locking limiting structure update parameter, and the operating temperature rise buffer matching relationship.

9. The high power density, high reliability tubular motor system of claim 8, wherein: The state maintaining module comprises: The elastic regulation and control sub-module calls the in-pipe thermal energy accumulation migration trend, extracts the spring deformation amplitude and the locking point contact displacement difference at the corresponding connection groove position in the temperature rise path, calculates the elastic component response limit of the groove area according to the position corresponding relationship, compares the elastic component response limit with the real-time groove structure space boundary, adjusts the deformable space and the limiting angle boundary value of the elastic component in the groove, and generates the groove area elastic regulation and control reset parameter group; The locking structure dynamic adjustment sub-module updates the initial limiting angle and the adjustable displacement of the locking limiting structure in the connection structure according to the groove area elastic regulation and control reset parameter group, constructs the dynamic buffer mapping relationship between the locking component and the operating temperature rise change by adjusting the tolerance interval between the locking structure boundary and the compression recovery path of the elastic component, and obtains the connection structure dynamic pressure maintenance result.

10. A high power density, high reliability tubular motor characterized by, The high-power-density and high-reliability tubular motor system according to any one of claims 1-9 is executed, comprising: A magnet assembly as a stator and a coil assembly as a rotor composed of a magnesium-aluminum alloy shell and a coil fixed inside the shell, one magnet assembly as a stator fixed on the motor and machine center shaft, keeping stationary; one coil assembly as a rotor composed of a magnesium-aluminum alloy shell and a coil fixed on the inner wall in a circumferential direction; The coil assembly includes 30 coils, which are physically divided into two groups of completely independent and electrically isolated three-phase star windings; the multi-phase output ends of the two groups of windings are connected in parallel and then led to the motor connection end to connect a single motor driver; At least one temperature control switch integrated in the rotor coil assembly monitors the winding temperature and outputs a signal; The coil is wound with copper-clad aluminum material and is filled with epoxy adhesive for sealing treatment, so that the coil, the temperature control switch and the magnesium-aluminum alloy shell are combined into a solid whole; The coil is wound with copper-clad aluminum material and is filled with epoxy adhesive for sealing treatment, so that the coil, the temperature control switch and the magnesium-aluminum alloy shell are combined into a solid whole; The magnet assembly as the stator adopts N50SH grade permanent magnet, the permanent magnet is fixed on the base of the stator through magnetic winding, and the independent magnet tube structure is removed; The working gap between the stator and the mover is reduced by increasing the outer diameter of the stator; The permanent magnets are isolated through the gaskets with the thickness of 0.1mm, and the magnetic gap is uniform; The electrical lead wire of the coil assembly adopts Teflon insulated wire; The tubular motor includes a motor controller; the controller is connected with the parallel output end of the mover, receives the signal of the temperature control switch, and is configured to perform overheat protection and control the working state of the two groups of windings.

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