Semi-closed slot stator structure and single-stator double-rotor permanent magnet synchronous motor

Abstract

The invention discloses a semi-closed slot stator structure and a single-stator double-rotor permanent magnet synchronous motor, the semi-closed slot stator structure comprises a stator core, the side of the stator core facing a rotor is provided with a semi-closed slot structure, the semi-closed slot structure is formed by alternately arranging notches and similar tooth crests, and the similar tooth crests are connected and fixed with adjacent stator tooth parts. The advantages of I-type and H-type double-rotor motor schemes are combined, a new stator structure is provided, additional positioning pieces and structural supporting pieces are not needed, and compared with a traditional double-rotor single-stator structure, the electromagnetic performance can be guaranteed while the weight is reduced. In the aspect of electromagnetic performance of the motor, the tooth crest-like structure exists at the notch and does not occupy a large area in the notch like a yoke structure of an H-shaped stator, and torque density improvement is facilitated for the motor with size limitation.

Description

Technical Field

[0001] This invention relates to the field of single-stator dual-rotor permanent magnet synchronous motor technology, and in particular to a semi-closed slot stator structure and a single-stator dual-rotor permanent magnet synchronous motor. Background Technology

[0002] Permanent magnet synchronous motors (PMSMs) are widely used in various electric propulsion systems due to their high torque density and high reliability. To achieve even higher torque density, dual-rotor PMSMs have emerged, and combinations of different topologies offer more possibilities for increasing motor power density. Existing dual-rotor motor solutions... Figure 1 Type I and Figure 2 The main type is H-type, the difference being the presence or absence of a stator yoke structure. In the I-type scheme, the magnetization direction of the permanent magnets on the inner and outer rotors is the same, which is called the NN type. For the H-type scheme, the magnetic circuit can form a loop through the stator yoke, which is called the NS type, meaning that the magnetization direction of the permanent magnets on both sides is opposite. The NN type can also be used, where the magnetic circuit does not pass through the stator yoke, but forms a loop on the other rotor through the stator teeth. Compared with the NS type motor, the NN type motor's magnetic circuit does not pass through the stator yoke, so a thinner stator yoke structure can be used, thereby reducing the overall weight of the motor.

[0003] Of the two dual-rotor motor designs mentioned above, the Type I design has the advantage of no stator yoke, resulting in low leakage flux and less iron usage, and a lighter electromagnetic component. However, it requires additional mechanical parts for positioning and supporting the segmented stator components, which increases the motor's weight and raises the technical difficulty of motor manufacturing and installation. The Type H design has the advantage of manufacturing the stator as a single unit, which facilitates positioning and installation. However, it uses more iron and has a smaller slot area for the same size compared to the Type I design, which is detrimental to improving the motor's torque density and efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide a semi-closed slot stator structure and a single-stator dual-rotor permanent magnet synchronous motor, which at least to some extent solves one of the technical problems in the related art.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A semi-closed slot stator structure includes a stator core, with the stator core having a semi-closed slot structure on the rotor side. The semi-closed slot structure is formed by alternating slot openings and tooth-like tips, with the tooth-like tips connecting and fixing adjacent stator teeth.

[0006] Based on the above, the stator teeth are connected in an S-shaped or π-shaped arrangement to form an S-shaped or π-shaped stator core.

[0007] Based on the above, the stator core can be machined as a whole or in sections.

[0008] The present invention also discloses a semi-closed slot stator structure for a single-stator dual-rotor radial flux permanent magnet synchronous motor. Based on the semi-closed slot stator structure, the inner rotor, stator and outer rotor are arranged in the radial direction of the motor from the inside to the outside. The outer radial side of the stator core faces the outer rotor. Along the circumferential direction, the outer groove and the outer tooth-like tip of the stator are alternately provided on the outer radial side of the stator core, forming a semi-closed groove structure on the outer side of the stator. The inner radial side of the stator core faces the inner rotor. Inner slots and stator inner tooth-like tips are alternately provided along the circumferential direction on the inner radial side of the stator core, forming a semi-closed slot structure on the inner side of the stator. The stator outer tooth tip / stator inner tooth tip is a curved arc structure that is coaxial and parallel to the rotor, and the outer slot corresponds to the stator inner tooth tip in the radial direction, and the stator outer tooth tip corresponds to the inner slot in the radial direction. The stator teeth extend radially, and the outer stator tooth tips and the inner stator tooth tips are respectively connected and fixed to adjacent stator teeth.

[0009] Based on the above, the stator core is an S-type stator core or a π-type stator core; The S-type stator core design is as follows: each adjacent stator outer tooth tip, stator tooth portion, and stator inner tooth tip are connected in an S-shape. The π-type stator core scheme is as follows: each pair of adjacent stator teeth, as well as the stator outer tooth tip / stator inner tooth tip located between the two stator teeth, are connected in a π-type arrangement.

[0010] The present invention also discloses a single-stator dual-rotor radial flux permanent magnet synchronous motor, including the aforementioned semi-closed slot stator structure.

[0011] The present invention also discloses a semi-closed slot stator structure for a single-stator dual-rotor axial flux permanent magnet synchronous motor. Based on the semi-closed slot stator structure, the motor consists of a front rotor, a stator, and a rear rotor along the axial direction from front to back. The front side of the stator core faces the front rotor. The front side of the stator core is alternately provided with front slots and front tooth-like tops along the circumferential direction, forming a semi-closed slot structure on the front side of the stator. The rear side of the stator core faces the rear rotor. The rear slot and the rear tooth-like top of the stator core are alternately provided along the circumferential direction on the rear side of the stator core, forming a semi-closed slot structure on the rear side of the stator. The stator front tooth tip / stator rear tooth tip is a planar arc structure that is coaxial and parallel to the rotor, and the front slot corresponds to the stator rear tooth tip in the axial direction, and the stator front tooth tip corresponds to the rear slot in the axial direction. The stator teeth extend along the axial direction, and the front and rear tooth tips of the stator are respectively connected and fixed to adjacent stator teeth.

[0012] Based on the above, the stator core is an S-type stator core or a π-type stator core; The design of the S-type stator core is as follows: each adjacent stator outer tooth tip, stator tooth portion and stator inner tooth tip are connected in an S-shape to form an S-type stator core; The scheme for the π-type stator core is as follows: each pair of adjacent stator teeth, and the stator outer tooth tip / stator inner tooth tip located between the two stator teeth, are connected in a π-type arrangement to form the π-type stator core.

[0013] The present invention also discloses a single-stator dual-rotor axial flux permanent magnet synchronous motor, including the aforementioned semi-closed slot stator structure.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention connects adjacent tooth tips on both sides alternately at the slots on the inner and outer sides (front and rear sides) of the stator, thereby connecting and fixing each stator tooth to form a complete stator core body. This connection structure is an extension of the stator tooth tip and is called a tooth tip-like structure.

[0015] This invention combines the advantages of type I and type H dual-rotor motor designs, proposing a new stator structure that can balance the improvement of motor electromagnetic performance with the convenience of stator installation.

[0016] Through the application of this invention, a traditional open-slot motor has been transformed into a semi-closed-slot motor.

[0017] This invention aims to enhance the structural strength of the stator itself without affecting the electromagnetic performance of the motor, and to reduce the difficulty of stator positioning and installation. The tooth-like connection allows the stator to be manufactured and installed as a single unit, or processed in sections, without requiring additional positioning or structural support components. In contrast, traditional sectioned stators require ensuring the concentricity and flatness of each tooth section, thus necessitating additional tooling for positioning and installation, resulting in higher complexity.

[0018] In terms of the electromagnetic performance of the motor, the tooth-like tip exists at the slot opening. The stator core connects the adjacent stator teeth through the tooth-like tip structure, eliminating the yoke structure in the stator slot (unlike the yoke structure of the H-type stator which occupies a large amount of slot area), thus increasing the slot area. For motors with size limitations, this is beneficial to improving torque density and provides more possibilities for improving motor power density.

[0019] 2. For a single-stator dual-rotor permanent magnet synchronous motor, an S-shaped stator core structure is proposed, which does not require additional positioning components and structural support components. Compared with the traditional single-stator dual-rotor structure, it can reduce weight while ensuring electromagnetic performance.

[0020] Based on the S-type stator core structure, a derivative π-type stator core structure was proposed, which increases the area and thickness of the tooth tip, reduces air gap leakage flux and cogging torque, and enables the stator core to withstand greater radial loads.

[0021] The two stator core structures mentioned above are proposed for radial flux single-stator dual-rotor motors. For radial flux motors, the tooth-like structure can enhance the stator's ability to withstand radial electromagnetic forces without the need for additional structural support components to improve the ability to withstand radial loads, which helps to reduce the overall weight of the motor.

[0022] 3. This invention can be used not only in radial flux single stator dual rotor motors, but also in axial flux single stator dual rotor motors. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the Type I scheme in the prior art; Figure 2 This is a schematic diagram of the H-shaped scheme in the prior art; Figure 3 This is a three-dimensional structural diagram of the stator and rotor of the radial flux motor in Example 1; Figure 4 This is a front view of the stator and rotor of the radial flux motor in Embodiment 1; Figure 5 This is a three-dimensional structural diagram of the outer rotor of the radial flux motor in Embodiment 1; Figure 6 This is a three-dimensional structural diagram of the inner rotor of the radial flux motor in Embodiment 1; Figure 7 This is a three-dimensional structural diagram of the S-shaped stator core of the radial flux motor in Example 1; Figure 8 This is a front view of the S-shaped stator core of the radial flux motor in Embodiment 1; Figure 9 This is a schematic diagram of the magnetic circuit of the radial flux motor in Example 1; Figure 10 This is a three-dimensional structural diagram of the π-type stator core of the radial flux motor in Example 2; Figure 11 This is a front view of the π-type stator core of the radial flux motor in Embodiment 2; Figure 12 This is a three-dimensional structural diagram of the stator and rotor of the axial flux motor in Example 3; Figure 13 This is a three-dimensional structure diagram of the rotor of the axial flux motor in Example 3; Figure 14 This is a three-dimensional structural diagram of the π-type stator core of the axial flux motor in Example 3; Figure 15 This is a three-dimensional structural diagram of the π-type segmented stator core of the radial flux motor in Example 4; Figure 16 This is a front view of the π-type segmented stator core of the radial flux motor in Embodiment 4; Figure 17 This is a schematic diagram of the simulation model of the π-type radial flux motor in Example 5; Figure 18 This is a schematic diagram of the simulation model of the S-type radial flux motor in Example 5; Figure 19 This is a schematic diagram of the simulation model of the Type I radial flux motor in Example 5; Figure 20 This is a schematic diagram of the magnetic flux density distribution of the π-type radial flux motor in Example 5; Figure 21 This is a schematic diagram of the magnetic flux density cloud distribution of the S-type radial flux motor in Example 5; Figure 22 This is a schematic diagram of the magnetic flux density cloud distribution of the Type I radial flux motor in Example 5; Figure 23 This is a schematic diagram of the electromagnetic performance of the π-type radial flux motor in Example 5; Figure 24 This is a schematic diagram of the electromagnetic performance of the S-type radial flux motor in Example 5; Figure 25 This is a schematic diagram of the electromagnetic performance of the Type I radial flux motor in Example 5.

[0024] In the figure of Example 1: 1. Outer rotor core; 2. Outer permanent magnet; 3. S-shaped stator core; 4. Coil; 5. Inner permanent magnet; 6. Inner rotor core; 31. Stator outer tooth tip; 32. Stator tooth; 33. Stator inner tooth tip.

[0025] In the figure of Example 2: 7, π-type stator core.

[0026] In the figure of Example 3: 8, rotor core; 9, permanent magnet; 10, coil; 11, π-type stator core.

[0027] In the figure of Example 4: 12, Group A block stator; 121, Group A stator outer tooth tip connection; 122, Group A stator inner tooth tip connection; 13, Group B block stator; 131, Group B stator outer tooth tip connection; 132, Group B stator inner tooth tip connection.

[0028] The accompanying drawings are for illustrative purposes only and should not be construed as limiting the invention. To better illustrate this embodiment, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings. Detailed Implementation

[0029] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0030] Example 1

[0031] like Figures 3 to 9 As shown, this embodiment provides a single-stator dual-rotor radial flux permanent magnet synchronous motor using a semi-closed slot stator structure. Along the radial direction of the motor, from the inside out, are the inner rotor, stator, and outer rotor. The inner and outer rotors have the traditional NN structure; the main innovation lies in the stator structure design.

[0032] The outer rotor mainly consists of the outer rotor core 1 and the outer permanent magnet 2, while the inner rotor mainly consists of the inner rotor core 6 and the inner permanent magnet 5. The stator mainly consists of the S-shaped stator core 3 and the coil 4.

[0033] The S-type stator core mainly consists of stator outer tooth tip 31, stator tooth portion 32, and stator inner tooth tip 33. The specific connection and arrangement are as follows: The outer radial side of the S-type stator core 3 faces the outer rotor. The outer groove and the outer stator tooth tip 31 are alternately provided along the circumferential direction on the outer radial side of the S-type stator core 3, forming a semi-closed groove structure on the outer stator side.

[0034] The inner radial side of the S-shaped stator core 3 faces the inner rotor. Inner slots and stator inner tooth-like tips 33 are alternately provided along the circumferential direction on the inner radial side of the S-shaped stator core 3, forming a semi-closed slot structure on the inner side of the stator.

[0035] The stator outer tooth tip 31 and stator inner tooth tip 33 are curved arc-shaped structures that are coaxial and parallel to the rotor, and the outer slot corresponds to the stator inner tooth tip 33 in the radial direction, while the stator outer tooth tip 31 corresponds to the inner slot in the radial direction.

[0036] The stator teeth 32 extend in the radial direction. Each adjacent stator outer tooth tip 31, stator teeth 32 and stator inner tooth tip 33 are connected in an S-shape. The stator outer tooth tip 31 and stator inner tooth tip 33 are respectively connected and fixed to the adjacent stator teeth 32, thereby forming an S-shaped stator core 3.

[0037] This embodiment adopts an S-type stator core 3 structure, which does not require additional positioning components and structural support components. Compared with the traditional single stator dual rotor structure, it can reduce weight while ensuring electromagnetic performance.

[0038] This invention improves the stator structure by incorporating a tooth-like tip structure between adjacent stator teeth, which not only serves as a connection, reducing positioning steps, but also lowers the difficulty of stator positioning and installation. Simultaneously, this structure can withstand radial loads, avoiding the increase in motor weight caused by adding structural support components.

[0039] In terms of the electromagnetic performance of the motor, the tooth-like tip exists at the slot opening, unlike the yoke structure of the H-type stator which occupies a large area inside the slot. For motors with size limitations, this is beneficial to improving torque density.

[0040] Example 2

[0041] like Figure 10 and 11 As shown, this embodiment proposes a derived π-type stator core 7 based on the S-type stator core of Embodiment 1. It increases the area and thickness of the tooth tip, reduces air gap leakage flux and tooth cogging torque, and enables the stator core to withstand greater radial load.

[0042] In the π-type stator core 7, each pair of adjacent stator teeth, as well as the stator outer tooth tip / stator inner tooth tip located between the two stator teeth, are connected in a π-type arrangement to form the π-type stator core.

[0043] Example 3

[0044] like Figures 12 to 14 As shown, this embodiment provides a single-stator dual-rotor radial flux permanent magnet synchronous motor using a semi-closed slot stator structure. Along the motor's axial direction from front to back, the components are, in order, the front rotor, the stator, and the rear rotor. The front and rear rotors are of the traditional NN type; the main innovation lies in the stator structure design.

[0045] The front and rear rotors have similar structures, mainly consisting of a rotor core 8 and permanent magnets 9. The stator mainly consists of a π-type stator core 11 and coils 10.

[0046] The π-type stator core 11 mainly consists of stator front tooth-like tips 111, stator teeth 112, and stator inner tooth-like tips 113. The specific connection and arrangement relationships are as follows: The axial front side of the π-type stator core 11 faces the front rotor. The axial front side of the π-type stator core 11 is alternately provided with a front slot and a stator front tooth tip 111 along the circumferential direction, forming a stator front semi-closed slot structure.

[0047] The axial rear side of the π-type stator core 11 faces the rear rotor. The axial rear side of the π-type stator core 11 is alternately provided with a rear slot and a stator rear tooth tip 113 along the circumferential direction, forming a semi-closed slot structure on the rear side of the stator.

[0048] The stator front tooth tip 111 and stator rear tooth tip 113 are planar arc-shaped structures that are coaxial and parallel to the rotor. The front slot and the stator rear tooth tip 113 correspond axially, and the stator front tooth tip 111 corresponds axially to the rear slot.

[0049] The stator teeth extend along the axial direction. Each pair of adjacent stator teeth 112, as well as the stator outer tooth tip 111 / stator inner tooth tip 113 located between the two stator teeth 112, are connected in a π-shaped arrangement. The stator front tooth tip 111 and the stator rear tooth tip 113 are respectively connected and fixed to the adjacent stator teeth 112 to form a π-shaped stator core.

[0050] The stator structure used in this embodiment helps to reduce the overall weight of the axial flux motor and increase the power density.

[0051] Example 4

[0052] The stator cores in Examples 1, 2 and 3 can be machined as a whole or in sections, and no additional positioning parts or structural support parts are required.

[0053] This embodiment provides a segmented processing scheme for the π-type stator core of Embodiment 2. The same applies to the S-type stator core.

[0054] like Figure 15 and Figure 16 As shown, the following explanation will be given using two sets of mirror-symmetrical block stators, A group 12 and B group 13.

[0055] The A-group segmented stator 12 includes an outer tooth tip connection 121 and an inner tooth tip connection 122.

[0056] The B-group segmented stator 13 includes an outer tooth tip connection 131 and an inner tooth tip connection 132.

[0057] When the A-group stator 12 and the B-group stator 13 are connected, the outer tooth tip connection 121 of the A-group stator is fixedly connected to the outer tooth tip connection 131 of the B-group stator, and the inner tooth tip connection 122 of the A-group stator is fixedly connected to the inner tooth tip connection 132 of the B-group stator, and so on, to form a complete stator core.

[0058] Example 5

[0059] like Figures 17 to 25As shown, taking a radial flux motor as an example, the electromagnetic performance of type I, type S, and type π motors is compared.

[0060] Figures 17 to 19 Simulation models of π-type, S-type, and I-type motors are provided respectively. Figures 20 to 22 The magnetic density cloud distributions are shown for π-type, S-type, and I-type motors, respectively. Figures 23 to 25 The waveforms show the inner and outer torques of π-type, S-type, and I-type motors, respectively. The red waveform represents the outer torque, and the black waveform represents the inner torque.

[0061] The performance comparison of the three types of motors is shown in the table below:

[0062]

[0063] Comparing the three types of motors, the π-type motor has the highest torque and the lowest torque ripple, resulting in the best overall performance.

[0064] The above embodiments are only used to illustrate and not limit the technical solutions of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the present invention without departing from the spirit and scope of the present invention. Any modifications or partial substitutions should be covered within the scope of the claims of the present invention.

[0065] If the terms "first" or "second" are used in this document to define components, those skilled in the art should know that the use of "first" or "second" is merely for the convenience of describing the invention and simplifying the description, and unless otherwise stated, the above terms have no special meaning.

[0066] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0067] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

Claims

1. A semi-closed slot stator structure, comprising a stator core, characterized in that, The stator core is designed with a semi-closed slot structure on both the rotor and stator sides. The semi-closed slot structure is formed by alternating slot openings and tooth-like tips, with the tooth-like tips connecting and fixing adjacent stator teeth.

2. The semi-closed slot stator structure according to claim 1, characterized in that, The stator teeth are connected to the stator teeth in an S-shaped or π-shaped arrangement to form an S-shaped or π-shaped stator core.

3. A semi-closed slot stator structure according to claim 1 or 2, characterized in that, The stator core can be machined as a whole or in sections.

4. A semi-closed slot stator structure for a single-stator dual-rotor radial flux permanent magnet synchronous motor, based on the semi-closed slot stator structure according to any one of claims 1-3, characterized in that, Along the radial direction of the motor from the inside out, the components are, in order, the inner rotor, the stator, and the outer rotor; The outer radial side of the stator core faces the outer rotor. Along the circumferential direction, the outer groove and the outer tooth-like tip of the stator are alternately provided on the outer radial side of the stator core, forming a semi-closed groove structure on the outer side of the stator. The inner radial side of the stator core faces the inner rotor. Inner slots and stator inner tooth-like tips are alternately provided along the circumferential direction on the inner radial side of the stator core, forming a semi-closed slot structure on the inner side of the stator. The stator outer tooth tip / stator inner tooth tip is a curved arc structure that is coaxial and parallel to the rotor, and the outer slot corresponds to the stator inner tooth tip in the radial direction, and the stator outer tooth tip corresponds to the inner slot in the radial direction. The stator teeth extend radially, and the outer stator tooth tips and the inner stator tooth tips are respectively connected and fixed to adjacent stator teeth.

5. A semi-closed slot stator structure for a single-stator dual-rotor radial flux permanent magnet synchronous motor according to claim 4, characterized in that, The stator core is either an S-type stator core or a π-type stator core; The S-type stator core design is as follows: each adjacent stator outer tooth tip, stator tooth portion, and stator inner tooth tip are connected in an S-shape. The π-type stator core scheme is as follows: each pair of adjacent stator teeth, as well as the stator outer tooth tip / stator inner tooth tip located between the two stator teeth, are connected in a π-type arrangement.

6. A single-stator dual-rotor radial flux permanent magnet synchronous motor, characterized in that, Includes the semi-closed slot stator structure as described in any one of claims 4-5.

7. A semi-closed slot stator structure for a single-stator dual-rotor axial flux permanent magnet synchronous motor, based on the semi-closed slot stator structure according to any one of claims 1-3, characterized in that, Along the axial direction of the motor from front to back, the components are, in order, the front rotor, the stator, and the rear rotor; The front side of the stator core faces the front rotor. The front side of the stator core is alternately provided with front slots and front tooth-like tops along the circumferential direction, forming a semi-closed slot structure on the front side of the stator. The axial rear side of the stator core faces the rear rotor. Along the circumferential direction, the axial rear side of the stator core is alternately provided with rear slots and stator rear tooth-like tops, forming a semi-closed slot structure on the rear side of the stator. The stator front tooth tip / stator rear tooth tip is a planar arc structure that is coaxial and parallel to the rotor, and the front slot corresponds to the stator rear tooth tip in the axial direction, and the stator front tooth tip corresponds to the rear slot in the axial direction. The stator teeth extend along the axial direction, and the front and rear tooth tips of the stator are respectively connected and fixed to adjacent stator teeth.

8. A semi-closed slot stator structure for a single-stator dual-rotor axial flux permanent magnet synchronous motor according to claim 7, characterized in that, The stator core is either an S-type stator core or a π-type stator core; The S-type stator core design is as follows: Each adjacent stator outer tooth tip, stator tooth portion, and stator inner tooth tip are connected in an S-shape to form an S-type stator core; The scheme for the π-type stator core is as follows: each pair of adjacent stator teeth, and the stator outer tooth tip / stator inner tooth tip located between the two stator teeth, are connected in a π-type arrangement to form the π-type stator core.

9. A single-stator dual-rotor axial flux permanent magnet synchronous motor, characterized in that, Includes the semi-closed slot stator structure as described in any one of claims 7-8.

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