Magnetostatic energy drive device based on piezomagnetic effect

Abstract

This invention discloses a static magnetic energy drive device based on pressure-controlled permeability. The device includes: a static magnetic field source, a mover, a pressure-controlled permeability functional layer composed of a smart material whose permeability changes significantly and reversibly with applied pressure, a pressure actuation system, and a control system. The mover is equipped with magnetic pole structures for coupling with the static magnetic field. Its core function is to: drive the pressure actuation system to apply controllable pressure to a selected area of ​​the functional layer through control system commands, thereby directly and rapidly changing the permeability of that area, forming a controllable magnetic field gradient distribution in the air gap, and dynamically scheduling the magnetic coupling between the static magnetic field and the mover. By orderly switching the pressure state of different areas on the functional layer, a low permeability control region (drive window) moving along a predetermined trajectory can be formed, thereby driving the mover (such as a rotor or linear mover) to continuous motion. Instantaneous reversal of the motion direction can be achieved simply by changing the movement sequence of this "drive window"; by continuously adjusting the pressure value applied to this area, its permeability and effective drive flux can be continuously changed, thereby achieving stepless and continuous adjustment of the output torque and speed. As a preferred embodiment, the magnetic pole structure of the mover can be a permanent magnet pole, and further, an asymmetric magnetization structure can be adopted to increase the output per unit volume; alternatively, it can be a salient pole structure made of soft magnetic material to form a reluctance mover. This invention achieves all-solid-state, millisecond-level response, and highly reliable direct scheduling and conversion of static magnetic energy, representing a significant development in static magnetic energy drive technology.

Description

Technical Field

[0001] This invention relates to the field of electromechanical energy conversion, specifically to a static magnetic energy drive device based on the piezomagnetic effect, and particularly to an all-solid-state static magnetic energy drive device that achieves dynamic modulation and stepless speed regulation of the magnetic circuit based on pressure-controlled permeability. Background Technology

[0002] Traditional electromagnetic drive motors, such as permanent magnet synchronous motors, induction motors, and switched reluctance motors, all follow the energy conversion path of "electrical energy → magnetic field energy → mechanical energy." Specifically, when these motors are in operation, an alternating current must be continuously supplied to the excitation winding of the stator to establish a rotating magnetic field or pulsating magnetic field in the air gap. Then, electromagnetic torque is generated through the interaction between the magnetic field and the mover poles or the induced current. This fundamental working principle leads to several inherent technical drawbacks: First, the continuous current in the stator windings generates significant copper losses (I²R losses), especially under high torque output conditions, resulting in severe heat generation and limiting the motor's power density and overload capacity; second, the alternating magnetic field induces hysteresis and eddy current losses (collectively known as iron losses) in the core, which not only reduces efficiency but also presents heat dissipation challenges; third, to generate a controllable rotating magnetic field or achieve precise torque / speed control, complex and expensive power electronic converters (such as frequency converters) must be used to provide three-phase or more phase currents with adjustable amplitude, frequency, and phase, resulting in high system complexity and cost; finally, the electromagnetic vibration and audible noise generated during motor operation also limit its application in precision instruments, medical equipment, and quiet environments. To fundamentally overcome the efficiency bottleneck of traditional electromagnetic drives and simplify the system, a novel concept based on direct drive using static magnetic energy has been proposed. A prior patent application (application number 2026100361712, hereinafter referred to as the "parent application") discloses a direct drive platform using static magnetic energy. Its core idea is to treat the static magnetic field (containing static magnetic energy) established by a high-performance permanent magnet as a directly scalable "mechanical power source," rather than an intermediate energy form. Through a low-power "magnetic circuit control unit," the magnetic coupling relationship between this static magnetic field and a mover (mover) with asymmetric magnetization characteristics (e.g., using a single-sided magnet or a Halbach array to form magnetic poles, making one side strongly magnetic and the other weakly magnetic). When the magnetic circuit is controlled to the "on" state, the strong attraction (or repulsion) between the permanent magnet and the mover's magnetic poles is directly converted into mechanical driving force; when the magnetic circuit is controlled to the "off" or "shielded" state, this force disappears or is significantly weakened. By orderly switching the on / off states of the magnetic circuits at different positions around the mover, a moving "force field" can be formed, driving the mover to rotate continuously. The original design has revealed a specific path to "adjust magnetic permeability by changing the geometry through mechanical force," for example, by using axially movable magnetically conductive or shielding disks to change the magnetic reluctance of the magnetic circuit; However, this mechanical magnetic circuit modulation mechanism has a series of insurmountable problems: First, there is inevitable friction and wear between the mechanical moving parts (such as sliders, connecting rods, and shielding discs), which affects the reliability of long-term operation and generates mechanical noise; second, the motion inertia and transmission clearance of the mechanical parts limit the response speed of the system, making it difficult to achieve high-frequency, high-dynamic torque control; third, in order to achieve precise synchronization between magnetic circuit switching and the position of the mover, complex mechanical synchronization mechanisms (such as cams and gears) are often required, making the overall structure bulky, complex, difficult to maintain, and difficult to modularize and integrate. Meanwhile, in the field of materials science, there exists a class of smart materials known as "piezomagnetic materials" or magnetomechanical coupling materials. Their core characteristic is that their macroscopic magnetic properties (such as permeability and magnetization) can undergo significant and reversible changes with applied mechanical stress (compression, tension, and shear force). This phenomenon is called the piezomagnetic effect or contramagnetostrictive effect. Typical material systems include: composite materials based on the magnetorheological effect, such as magnetorheological elastomers formed by dispersing and solidifying micron-sized soft magnetic particles (carbonyl iron powder) in a rubber / silicone matrix, where the change in permeability originates from the deformation of the magnetic particle chain structure caused by pressure; and certain intrinsic alloy materials, such as iron-gallium alloys (Fe-Ga, Galfenol) and iron-aluminum alloys (Fe-Al), where the change in permeability originates from the direct influence of lattice strain on the motion of magnetic domain walls. Currently, research and applications of these piezomagnetic materials mainly focus on passive or signal conversion fields such as sensors (e.g., stress / torque sensors), dampers (variable stiffness / damping vibration isolators), and energy harvesters. Although its controllable permeability has been widely recognized, it has not yet been systematically and creatively applied to the construction of a drive device with the core purpose of "active scheduling and distribution of static magnetic energy", and a complete drive device technology solution based on pressure-controlled permeability to achieve dynamic modulation and stepless speed regulation of magnetic circuit has not yet been formed. Therefore, as a deepening and expansion of the parent technology, this invention proposes an innovative implementation scheme. This invention aims to creatively and systematically integrate the intelligent material system of pressure-regulated magnetic permeability materials into the field of direct electrostatic energy drive, constructing a novel drive device solution that is all-solid-state, has high response speed, high reliability, compact structure, and is easy to control. This fundamentally overcomes the inherent defects of mechanical modulation mechanisms and opens up a new path for the development of electrostatic energy drive technology. Materials science research has shown that the macroscopic permeability of various high-permeability soft magnetic materials (such as permalloy, nanocrystalline alloys, and certain ferrites) is extremely sensitive to external mechanical stress. Experimental data shows that applying moderate static or quasi-static pressure to these materials can cause orders-of-magnitude changes in their permeability, for example, a significant decrease from thousands or even tens of thousands in the unpressurized state to hundreds in the pressurized state. However, this significant "piezomagnetic" or "stress-permeability" effect has only been sporadically used in passive devices such as sensors in existing technologies. Its potential in active magnetic circuit modulation, especially in constructing a complete drive device based on static magnetic energy dispatching, has not yet been systematically explored and engineered. This invention is based on this understanding and creatively applies such material systems to dynamic modulation of magnetic circuits. Summary of the Invention

[0003] (a) Technical problems to be solved The present invention aims to solve the problems of slow response, low flexibility and complex structure caused by the reliance on mechanical moving parts for magnetic circuit modulation in the existing static magnetic energy drive technology, and provides a static magnetic energy drive device and its speed regulation method based on pressure-controlled magnetic permeability material. (II) Basic Principles The basic principle of this invention is as follows: a magnetic circuit control functional layer is constructed using a smart material whose magnetic permeability changes significantly and reversibly with applied pressure. Controllable pressure is applied to a specific area of ​​this functional layer through a pressure actuation system, thereby directly and rapidly changing its local magnetic permeability. This enables dynamic switching or continuous adjustment of the magnetic coupling path between the static magnetic field and the mover, thereby controlling the torque and speed of the mover driven by the static magnetic energy. Technical solution

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A pressure-controlled permeability-based static magnetic energy driving device includes: 1. Static magnetic field source: Used to establish a circumferentially distributed static magnetic field. A typical implementation involves arranging multiple fan-shaped or tile-shaped permanent magnets (such as neodymium iron boron NdFeB) with alternating polarities (NSNS...) along the circumferential direction on the stator housing or yoke. These permanent magnets together constitute a static magnetic field source with spatially alternating polarities, providing inherent static magnetic energy for driving. 2. Moving element: Rotatably disposed within the region of action of the static magnetic field, the moving element having a magnetic pole structure for coupling with the static magnetic field. The magnetic pole structure can be a permanent magnet pole or a reluctance salient pole structure; In this invention, the driving force originates from the gradient of the moving magnetic field formed by pressure regulation, rather than the directionality of the static magnetic field itself. Therefore, the specific structural forms of the mover magnetic poles are diverse: - Permanent magnet poles: Conventional symmetrical structures (such as permanent magnets with alternating N / S poles) can be used to generate driving force in a moving magnetic field gradient; alternatively, an asymmetric magnetization structure is preferred to further improve the output per unit volume of the device. The asymmetric magnetization structure refers to a structure where, on the radial or axial cross-section of the mover, the magnetic field strength or magnetic reluctance of each driving magnetic pole along the direction of rotation is different at the leading and trailing edges, thus causing the mover to generate a net torque when subjected to a magnetic field in a single direction. For example, this can be achieved using a "single-sided magnetic composite" (i.e., the magnet has strong magnetism on only one surface), a local component of a Halbach array, or by adding soft magnetic pole shoes to one side of the magnetic pole. - Magnetoresistive salient pole structure: The mover is made of soft magnetic material (such as silicon steel sheet) and generates magnetoresistive torque in a moving magnetic field gradient by relying on the salient pole effect. This structure has advantages such as zero demagnetization risk, high temperature resistance, and low cost; All of the above-mentioned magnetic pole structures are within the protection scope of this invention. Those skilled in the art can select the appropriate mover type according to specific application requirements. 3. Pressure-regulated permeability functional layer and actuation system: - Functional Layer: A component consisting of one or more thin-layered smart materials whose magnetic permeability changes continuously and reversibly with applied mechanical pressure. The smart materials are selected from soft magnetic material systems with high initial magnetic permeability and significant pressure sensitivity, including but not limited to: a. High permeability permalloy (such as grades 1J79, 1J85, 1J38) has a relative permeability of over 10,000 in an unpressurized state, which can be reduced to 100~1,000 after applying moderate pressure. b. Iron-based nanocrystalline alloys (such as grade 1K107) have a relative magnetic permeability of 5,000 to 100,000 in the unpressurized state, which can be reduced to 100 to 1,000 after pressure is applied. c. High permeability manganese zinc ferrite (initial permeability μi on the order of 10,000), its permeability can be stably reduced to the range of 100~10,000 after pressure is applied; This functional layer is precisely positioned to significantly influence the main magnetic coupling path between the static magnetic field source and the mover; - Pressure actuation system: Configured to apply spatially distributed and adjustable mechanical pressure (positive pressure) to specific areas of the functional layer. This system can be a discrete array (e.g., piezoelectric ceramic stack, electromagnetic actuator array) or a continuous partitioned system (e.g., a gas bladder or hydraulic chamber divided into multiple independent gas / liquid chambers). Its function is to precisely and rapidly change the stress state of the target area on the functional layer to alter its permeability according to control commands. - Control system: Includes a signal processing unit, a control algorithm unit, and a power drive unit. It receives speed / torque commands and feedback signals from the mover position sensor, and generates control signals according to a preset control strategy (modulation waveform, speed regulation law) to drive the coordinated operation of each unit of the pressure actuation system. 4. Magnetic circuit modulation and speed regulation mechanism: - Modulation (commutation) mechanism: The control system acquires the angular position information of the mover in real time. Based on the preset rotation direction, it calculates and outputs a series of pressure application commands arranged in spatial phase order. This causes the region on the functional layer corresponding to the position where the future mover magnetic pole will reach to be subjected to high pressure (converted to low permeability, forming a "drive window"), while the region that has just left is depressurized (restored to high permeability, forming a "shielded background"). As the mover rotates, this high-pressure (low permeability) window moves synchronously along the circumference like a "grating" or "wave crest," thereby achieving spatial scanning modulation of the static magnetic field and generating continuous rotational driving force. This process is completely equivalent to a contactless, motionless "solid-state magnetic circuit switch" switching at high speed; - Speed ​​regulation mechanism: While maintaining the basic commutation timing described above, the equivalent permeability μ of the functional layer in the "drive window" region can be continuously changed linearly or nonlinearly by continuously adjusting the pressure value (P) applied to the "drive window" region. According to Ohm's law for magnetic circuits, this directly changes the shunting ratio of the magnetic reluctance to the bypass (short-circuit) magnetic reluctance in the "window" region, thereby continuously adjusting the effective working magnetic flux that actually couples with the mover through the air gap; The effective magnetic flux determines the instantaneous electromagnetic torque. Therefore, by adjusting the analog value of the pressure, stepless, continuous, and precise control of the output torque and speed can be achieved without changing the modulation frequency (equivalent to the electrical frequency). It should be noted that the specific structural form of the mover poles is not a prerequisite for realizing the basic function of this invention. The core of this invention lies in creating a moving magnetic field gradient by controlling the permeability through pressure, thereby driving the mover to rotate. Conventional symmetrical permanent magnet poles can also generate driving torque under the action of this moving magnetic field gradient, realizing basic electromechanical energy conversion functions; The preferred asymmetric magnetization structure (such as a single-sided strong magnetic structure) used in this embodiment serves to further optimize the magnetic circuit, enabling the mover to achieve a higher torque density under the same magnetic field gradient, thereby improving the power density and material utilization of the device. In other words, the asymmetric magnetization structure enhances the performance of the basic scheme of this invention, rather than being a prerequisite for achieving the necessary technical functions of this invention.

[0005] Beneficial effects 1. All-solid-state structure and high reliability: Completely eliminates all mechanical moving parts (such as shielding disks, sliders, connecting rods, and gears) used for magnetic circuit modulation. Only the rotational motion of the mover exists within the system, and magnetic circuit control itself is achieved through solid-state stress and strain, theoretically resulting in zero wear. This significantly improves the system's mechanical reliability, lifespan, and maintenance-free operation, making it particularly suitable for high-reliability applications such as aerospace, deep-sea equipment, and long-term unattended operation. 2. Ultra-fast dynamic response speed: The physical process of pressure regulation (especially when using piezoelectric, electrostrictive, or fast pneumatic / hydraulic servo drives) has an extremely fast response speed, reaching milliseconds or even sub-milliseconds. This is far faster than the response time of any macroscopic mechanical motion (typically tens to hundreds of milliseconds). Therefore, this invention can achieve near-instantaneous magnetic circuit state switching, torque establishment and cancellation, and rapid reversal of rotation direction, with dynamic performance comparable to or even surpassing that of traditional servo motors; 3. Simplified Structure and High Integration Potential: It eliminates complex mechanical synchronization mechanisms, bearings, and lubrication systems. Pressure actuators (such as piezoelectric arrays and micro-airbags) can be made into thin films or integrated onto the PCB, tightly integrated with the functional layers. This allows the entire magnetic circuit modulation unit to be made very flat and compact, facilitating modular design and integrated integration with permanent magnet stators and movers, significantly improving power density and space utilization. 4. Precise and continuous control capability: Because the pressure can be continuously adjusted over a wide range, the control of permeability, and consequently magnetic flux and torque, is a continuous analog control. This allows for extremely high-resolution torque and speed regulation, excellent low-speed smoothness, and precise torque mode (direct torque control), meeting the needs of high-end applications such as precision transmission and force-controlled robots; 5. It inherits and enhances the core advantages of static magnetic energy drive: - High efficiency: During steady-state operation, only the pressure actuation system consumes a small amount of electrical energy (used to generate control pressure), while the main magnetic circuit is excited by permanent magnets, with no continuous winding copper losses. There is only a tiny energy consumption during magnetic circuit state switching, and the overall system efficiency can theoretically be far higher than that of traditional motors; -Low steady-state power consumption and quiet operation: When maintaining a certain speed, if there is no need for speed adjustment, the pressure distribution can remain static, resulting in extremely low power consumption; and there is no sharp electromagnetic noise caused by current harmonics and electromagnetic force waves, making the operation extremely quiet. - High thermal stability: Less winding heat generation and less thermal management pressure; - Strong anti-interference capability: The static magnetic field is not directly affected by external power grid fluctuations. Attached Figure Description

[0006] Figure 1 is a schematic radial cross-sectional view of the overall structure of Embodiment 1 of the present invention (radial magnetic field rotation drive device based on two-dimensional pressure array).

[0007] Figure 2 is a schematic diagram of the permeability-pressure characteristic curve of the pressure-regulated permeability functional layer.

[0008] Figure 3 is a schematic diagram of the magnetic circuit modulation principle, showing the effect of high / low permeability regions on the magnetic flux path.

[0009] Figure 4 is a schematic diagram of the speed regulation principle, showing that the permeability and magnetic flux can be continuously adjusted by continuously changing the pressure.

[0010] Figure 5 is a schematic radial cross-sectional view of the overall structure of Embodiment 2 of the present invention (radial magnetic field static magnetic energy driving device based on annular inflatable airbag).

[0011] Figure 6 is a schematic diagram of the working principle of the annular inflatable airbag and the functional layer coupling structure in Figure 5.

[0012] Figure 7 is a schematic diagram of the forward and reverse rotation control principle of the present invention, showing the correspondence between the pressure window movement sequence and the rotor rotation direction.

[0013] Figure 8 is a schematic diagram of the structure and linkage principle of the biomimetic antagonistic drive unit composed of two actuators provided in Embodiment 3 of the present invention.

[0014] Figure 9 is a schematic diagram of the static magnetic energy linear drive device based on the opposite polarity of the upper and lower double rails and the back magnetic circuit control provided in Embodiment 4 of the present invention.

[0015] Figure 10 This is a schematic diagram of the reluctance rotor rotation drive device in Embodiment 5 of the present invention.

[0016] Figure 11 This is a schematic diagram of the magnetoresistive linear drive device based on gradient permanent magnets in Embodiment 5 of the present invention. Detailed Implementation

[0017] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. It should be emphasized that the following embodiments are merely illustrative of the invention and not intended to limit its scope of protection.

[0018] First, the core mechanism of magnetic circuit control in this invention is explained: The pressure-regulated permeability functional layer is composed of smart materials with piezomagnetic effects. These materials include, but are not limited to, two types: composite systems based on the deformation principle of magnetic particle chain structures (such as magnetorheological elastomers), or intrinsic material systems based on the inverse magnetostrictive effect (such as Fe-Ga alloys), whose macroscopic permeability can change significantly and reversibly in response to applied mechanical pressure; The functional layer is disposed in the main magnetic circuit between the permanent magnet stator and the mover, which are arranged in an alternating pattern of (N-pole-S-pole-N-S-pole) (this is the preferred topology under a radial magnetic field). When the functional layer is in a high permeability state (usually corresponding to low pressure), it forms a low magnetic reluctance path between adjacent dissimilar magnetic poles, causing the magnetic flux to be short-circuited inside the stator, thereby shielding the driving effect on the mover; when pressure is applied to the target area to change it to a low permeability state (usually corresponding to high pressure), the inter-pole path is blocked, and the magnetic flux is forced to cross the working air gap and couple with the mover, thereby realizing the drive.

[0019] Key material properties and design guidelines: To achieve effective on-off switching of the magnetic circuit, the material used in the pressure-regulated permeability functional layer must meet specific requirements for magnetic property changes. Its key parameters are defined as follows: - Zero pressure (or minimum working pressure) permeability μ_high: corresponds to the permeability under "magnetic circuit connected" or "shielded state". At this time, the functional layer is in a high permeability state and should be as high as possible to minimize the magnetic resistance of the magnetic circuit short circuit. -Permeability μ_low at maximum design working pressure: corresponds to the permeability under "magnetic circuit disconnection" or "drive window", at which time the functional layer is in a low permeability state; -Working air gap reluctance R_gap: determined by the physical air gap size; The materials and magnetic circuit design must meet the following conditions: 1. High switching ratio: μ_high / μ_low > 10, preferably greater than 50, to ensure a significant flux path switching effect; 2. Reluctance matching relationship: - Under low pressure (high μ) conditions, the magnetic reluctance R_low in the functional layer region should be much smaller than the working air gap magnetic reluctance R_gap (e.g., R_low ≤ 0.2 * R_gap) so that the magnetic flux preferentially passes through the functional layer and short-circuits inside the stator. - Under high pressure (low μ) conditions, the magnetic reluctance R_high in the functional layer region should be at least equivalent to the working air gap magnetic reluctance R_gap, preferably R_high ≥ R_gap, so as to force a sufficient proportion of magnetic flux to cross the air gap and act on the mover. For example, a functional layer made of permalloy (1J85) thin strips can achieve a μ_high of over 50,000 under no pressure, and a μ_low of around 500 after applying a pressure of 10-50 MPa. The switching ratio exceeds 100, which can excellently meet the above design requirements and achieve efficient magnetostatic energy dispatch.

[0020] High-Frequency Performance and Selection Guide for Piezomagnetic Materials To achieve efficient magnetic circuit modulation at different operating frequencies, the pressure-controlled permeability functional layer involved in this invention can be selected from the following three types of typical smart materials, and their high-frequency performance is compared as follows: 1. Permalloy (1J79 / 1J85 / 1J38) - Permeability characteristics: Initial permeability is as high as 30,000 to 40,000, and maximum permeability is 100,000 to 150,000; it is stable in the <10kHz frequency band, and decreases rapidly after >20kHz. Under pressure, the permeability can drop to the 100~1,000 range. -Loss characteristics: Low resistivity (55~60μΩ·cm), eddy current loss increases with the square of frequency; 0.1mm tape has a loss of about 9~12W / kg at 100kHz, suitable for low-frequency precision applications <20kHz; - Applicable scenarios: weak field, high precision, low frequency modulation (<10kHz); 2. Iron-based nanocrystalline alloy (1K107, FeSiBNbCu) - Magnetic permeability characteristics: The permeability ranges from 5,000 to 100,000, with optimal stability in the 1kHz to 1MHz frequency band and a gradual decrease. Under pressure, the permeability can be linearly and controllably reduced to 100–1,000, exhibiting significantly better stability than permalloy. -Loss characteristics: High resistivity (120~150μΩ·cm), extremely weak skin effect in ultra-thin tape (15~30μm); 0.02mm tape has a loss of only 2~4W / kg at 100kHz and 5~8W / kg at 1MHz, making it the material with the lowest total loss in the 10kHz~1MHz frequency band. - Applicable scenarios: High frequency, low loss, and high anti-bias magnetic field requirements (100kHz~1MHz). 3. High μ manganese zinc ferrite (PC95 / N87 / H10K) - Permeability characteristics: The initial permeability is approximately 10,000, stable in the 10kHz~500kHz frequency range, and decreases after >1MHz. Under pressure, the permeability can steadily decrease to 100~10,000, exhibiting excellent linearity and consistency, meeting industry standard characteristics. -Loss characteristics: Extremely high resistivity (10) 6 ~10 8 μΩ·cm), eddy current loss is almost negligible, and the loss is mainly hysteresis loss (which increases linearly with frequency); the PC95 has a loss of about 30~50W / kg at 100kHz / 200mT. - Applicable scenarios: general mid-frequency applications, high cost performance, and temperature stability is better than metal alloys (10kHz~500kHz). 4. Selection Guide -Low frequency high precision (<10kHz): Preferred permalloy (1J85 / 1J79) has the lowest hysteresis loss; - General-purpose intermediate frequency (10kHz~500kHz): Manganese zinc ferrite (PC95 / N87) is preferred, which is free of eddy currents and has low cost; - High frequency and low loss (100kHz~1MHz): Iron-based nanocrystals (1K107) are preferred for optimal overall performance; Those skilled in the art can rationally select or combine the above materials according to actual operating frequency, control accuracy and cost requirements to achieve the best static magnetic energy dispatching effect.

[0021] Secondly, the general control principle for forward and reverse rotation is explained with reference to the attached diagram: To more clearly illustrate the direction control principle of this invention, please refer to Figure 7. Figure 7 illustrates the top view relationship between the static magnetic field source (stator) and the mover using a simplified four-pole model. The N and S poles represent permanent magnets arranged alternately along the circumference, the central ring represents the pressure-controlled permeability functional layer, and the disk represents the mover and its asymmetric magnetic poles (shown as a sector). The diagram uses different cross-sectional patterns to distinguish between two states on the functional layer: Blank area: indicates that a high voltage is applied and the magnetic permeability is low, forming a "driving window"; Filled region: This indicates a state of low pressure (or zero pressure) and high magnetic permeability, forming a "shielded region"; Figure 7(a) illustrates the instantaneous state of forward rotation (e.g., clockwise) control. The control system controls the pressure actuation system, causing the drive window to move counterclockwise (as indicated by the arrow in the figure). Magnetic flux is forced through this window and acts on the mover poles, generating a driving torque (F) that causes the mover to rotate clockwise. Figure 7(b) illustrates the state at the instant of reverse rotation (e.g., counterclockwise) control. At this moment, the control system reverses the activation sequence of the pressure windows. The drive window moves clockwise (as indicated by the arrow in the figure); Therefore, the forward and reverse rotation control of this invention is entirely achieved by the control system through electronic programming of the pressure window's movement timing (direction). This process requires no mechanical commutator, no change in winding current direction, and no adjustment of any mechanical component position. After the switching command is issued, the rotor's rotation direction can be reversed almost instantaneously, limited only by the pressure actuator's response time (milliseconds). This greatly enhances the system's control flexibility and dynamic performance. All the specific embodiments described below are built upon this unified core control principle.

[0022] Example 1: Radial Magnetic Field Rotation Drive Device Based on Two-Dimensional Piezoelectric Array As shown in Figure 1, this embodiment includes: - Static magnetic field source: A radial static magnetic field is formed by multiple fan-shaped permanent magnets (611) arranged alternately along the circumference of the inner wall of the casing; - Mover (621): It is a cylindrical structure with asymmetric driving magnetic poles composed of "single-sided magnetic composites" uniformly embedded in its outer wall around the perimeter; - Pressure-regulated permeability functional layer (631): This is a ring-shaped thin layer made of silicone rubber doped with high volume fraction carbonyl iron powder, tightly attached to the inner surface of the permanent magnet (611). The parameters of the smart material and functional layer satisfy the following condition: when the maximum working pressure of the pressure actuation system is applied to it... Its magnetic reluctance (R_high) is on the same order of magnitude or greater than that of the working air gap (R_gap); when the pressure is released, its magnetic reluctance (R_low) is much smaller than that of the working air gap (R_gap). - Pressure actuation system: a two-dimensional piezoelectric ceramic stack array (641), with multiple actuation units arranged in a matrix in the functional layer (631). On the back, each unit can be independently subjected to point pressure; - Control system (651): including mover position decoder, pressure mapping algorithm module and high-pressure drive circuit; Working and speed adjustment process: The control system receives the real-time position signal of the mover (621). It executes a cycle according to a preset rotation direction (e.g., clockwise): 1. Establish the driving region: Calculate the coordinates of the functional layer region below the moving pole that is about to be reached, and control the corresponding piezoelectric unit (641) to apply high voltage so that it enters a low permeability state, and the magnetic flux drives the moving pole through the air gap; 2. Forming a shielded area: For the functional layer region corresponding to the moving magnetic pole that has just passed, control the piezoelectric unit to depressurize or maintain a low voltage, so that it is in a high permeability state, and the magnetic flux is short-circuited between the permanent magnets; 3. Wave Sequence Driving and Speed ​​Regulation: The aforementioned "driving zone" and "shielding zone" move synchronously along the circumference with the position of the mover, forming a traction force. During speed regulation, while maintaining this sequence, the pressure value of the "driving zone" can be continuously adjusted to linearly change its permeability and driving flux, achieving stepless speed regulation. 4. Safety Shutdown: During shutdown, all piezoelectric units are depressurized, ensuring the entire functional layer is in a high permeability state, achieving full-domain magnetic shielding; Forward and Reverse Rotation Control: In this embodiment, the rotation direction is determined by the driving timing of each independent unit in the two-dimensional piezoelectric ceramic stack array (641) by the control system (651). The rotation direction of the mover can be directly set by programming the phase sequence of the pressure window (i.e., the low permeability driving region) moving along the circumference; For example, if the pressure window is activated sequentially in spatial phase order A→B→C→D..., the mover will rotate in the reverse direction; if the sequence is reversed to...D→C→B→A, the mover will rotate in the forward direction. Due to the millisecond-level response characteristics of piezoelectric ceramics, the direction switching can be completed in a very short time without any adjustment of the mechanical structure, which highlights the high dynamic control advantage based on discrete lattice pressure regulation.

[0023] Example 2: Radial magnetic field rotation drive device based on an annular inflatable bladder As shown in Figures 5 and 6, this embodiment provides a preferred solution with simplified structure and uniform pressure application: - Static magnetic field source: Similar to Embodiment 1, a radial static magnetic field is formed by permanent magnets (711) arranged alternately along the circumferential direction of the inner wall of the casing; - Mover (721): It is a cylindrical structure with conventional permanent magnet poles (such as conventional surface-mount or built-in permanent magnets, with N / S poles arranged alternately) uniformly embedded in the outer wall around the perimeter. - Pressure-regulated permeability functional layer (731): Preferably, a ring-shaped layer is formed of a flexible magnetorheological elastomer material and disposed in the magnetic circuit. This material is also based on the principle of structural deformation, and its permeability is sensitive to pressure on a uniform surface; - Pressure actuation system: This is an annular, sealed, flexible airbag (741), which is divided into several independently controlled air chambers along its circumference. The airbag (741) is located on the side of the functional layer (731) facing away from the working air gap, between it and the rigid support. - Control system: including pneumatic control unit (such as solenoid valve, precision air pump) and synchronization control module; Work process: 1. The control system coordinates the inflation and deflation of each airbag chamber based on the mover position information: 2. Establishing the driving region: High pressure is injected into the air cell of the functional layer region corresponding to the upcoming mover magnetic pole, causing the region to be in a low permeability state. At this time, the static magnetic field corresponding to this region is "released" into the air gap and magnetically coupled with the moving magnetic pole passing below. Due to the magnetic field gradient formed at the boundary between the high-pressure region and the low-pressure region on the functional layer, the moving magnetic pole generates a tangential driving force under the action of this gradient; 3. Forming a shielded area: The air chamber corresponding to the area of ​​the magnetic pole that has passed through is depressurized and the functional layer of the area is restored to a high permeability state. The magnetic flux is short-circuited between the permanent magnets, shielding the air gap magnetic field. Continuous drive: By orderly switching the pressure state of each gas chamber, a moving low permeability driving region (i.e. a moving magnetic field gradient) is formed on the functional layer, thereby continuously pulling the mover to rotate. Speed ​​adjustment and shutdown: - Speed ​​Regulation: By continuously adjusting the internal air pressure of the air chamber corresponding to the "drive zone," the magnetic permeability of the functional layer in that region can be continuously changed, thereby linearly adjusting the steepness of the magnetic field gradient and the effective driving magnetic flux, achieving smooth stepless speed regulation. The pressure equalization characteristics of the airbag ensure the smoothness of the speed regulation process; - Shutdown: Depressurize all air chambers to restore the functional layer to a high permeability state, achieving full-domain magnetic shielding and power shutdown; Directional control: The rotation direction of the mover (721) is controlled by regulating the inflation and deflation sequence of the individual air chambers in the annular airbag (741). When the control system causes the high-pressure area (driving area) to be transmitted clockwise between the air chambers, the mover is magnetically pulled to rotate counterclockwise; conversely, it rotates clockwise. Thanks to the extremely fast pressure build-up and release speed in the flexible airbag and the absence of inertia in moving parts, the switching of rotation direction can achieve a millisecond-level response. As another preferred option, the working medium in the annular airbag (741) can also be replaced with an incompressible liquid (such as hydraulic oil). Using a liquid medium effectively eliminates the response delay caused by gas compressibility, resulting in faster pressure build-up, which is particularly suitable for applications requiring high dynamic performance. In this case, the pneumatic control unit is replaced by a hydraulic control unit, including components such as a miniature hydraulic pump and servo valves. Due to the minimal deformation of the functional layers, the required hydraulic system is a low-flow system with a compact structure.

[0024] Example 3: Biomimetic Antagonistic Driving Unit Based on Static Magnetism This embodiment demonstrates how to combine the basic drive units of the present invention to construct a high-performance drive pair that simulates the working mode of biological joint antagonistic muscle groups; like Figure 8 As shown, a complete biomimetic driving basic unit consists of a biomimetic antagonistic driving pair; This drive system comprises two structurally mirror-symmetrical static magnetic energy linear drive units (Unit A and Unit B), both employing the same inventive principle as the aforementioned rotary drive device and specifically implemented in a linear drive configuration. The static magnetic field sources (e.g., axially magnetized permanent magnet pipes) of both units are configured with the same magnetic field direction. The moving parts (i.e., linear actuators) of both units are connected to a common output rod via a linkage mechanism (such as a high-strength rope or rigid linkage), ensuring that their movements are synchronized and opposite in direction. The key improvement lies in integrated control: Unit A and Unit B each have their own independent pressure-controlled permeability functional layer and pressure actuation system, but they are coordinated and managed by the same control system. -Mode 1 (A Drives, B Follows): The control system instructs the target area of ​​the functional layer of unit A to be in a high-pressure, low-permeability state ("Drive Window" Open), while simultaneously instructing the corresponding area of ​​unit B to be in a low-pressure, high-permeability state (magnetic circuit "Shielded"). At this time, the mover of unit A actively moves under the drive of strong magnetic force ("Contraction"), and through the linkage mechanism, forcibly drives the mover of unit B to perform a reverse passive movement ("Expansion"), thereby driving the common output rod to move to one side; -Mode 2 (B-driven, A-follower): The control system exchanges commands, opens the "drive window" of unit B, and shields the magnetic circuit of unit A. The mover of unit B becomes the active driving element ("contraction"), pushing the mover of unit A to move passively ("extension"), driving the common output rod to move to the other side; By alternating between the two modes described above, the common output rod and its load achieve efficient, energy-saving, and controllable bidirectional reciprocating linear motion. This structure precisely simulates the synergistic working principle of antagonistic muscle groups (such as flexors and extensors) at biological joints. Thanks to the millisecond-level response of the all-solid-state modulation and the precise force control capability brought by the continuously adjustable pressure of this invention, this biomimetic antagonistic drive unit can achieve dynamic performance comparable to or even surpassing that of traditional motor-reducer combinations, while possessing higher efficiency, lower inertia, and stronger shock resistance. It has broad application prospects in fields such as biomimetic robots, high-performance prostheses, and precision actuators.

[0025] Example 4: A Static Magnetism Linear Drive Device Based on Upper and Lower Rails with Opposite Polarities and Rear Magnetic Circuit Control Based on the same inventive principle as the aforementioned rotating mechanism, this embodiment provides a bidirectional linear drive solution with a very simple structure and convenient control. like Figure 9 As shown, the linear drive device adopts a double-layer permanent magnet track design, including: 1. Static magnetic field source - Upper track (912): It consists of multiple rectangular permanent magnets arranged horizontally with alternating polarities along a straight line, with the polarity sequence being N-S-N-S..., and fixed on the stator base; - Lower track (913): It is also composed of multiple rectangular permanent magnets arranged horizontally with alternating polarities along a straight line, but its polarity order is strictly opposite to that of the upper track, that is, S pole-N pole-S pole-N pole..., and is fixed parallel to the upper track; - The two orbits generate static magnetic fields in opposite directions in space: the upper orbit provides a macroscopic magnetic field direction preference from left to right in each magnetic pole cycle, while the lower orbit provides a macroscopic magnetic field direction preference from right to left. 2. Pressure-regulated permeability functional layer - Upper functional layer (932a): A thin layer component made of smart materials whose magnetic permeability changes reversibly with pressure (such as permalloy sheets or magnetorheological elastomers), which is closely attached to the back side of the upper track (912) (i.e. the side facing away from the working air gap and towards the stator base). - Lower functional layer (932b): A thin component also made of smart material, closely attached to the back of the lower track (913); -Working principle: Each functional layer and its attached permanent magnet track form a parallel magnetic circuit. When the functional layer is in a high permeability state (low pressure), it provides a low magnetic reluctance bypass for the permanent magnet, and most of the magnetic flux is short-circuited inside the track, weakening the working air gap magnetic field; when the functional layer is in a low permeability state (high pressure), the bypass magnetic reluctance increases sharply, the magnetic flux is "squeezed" into the working air gap, and the magnetic field is strengthened. 3. Motion -Motor (922): Set in the working air gap between the upper and lower rails, it can reciprocate along the linear guide rail; - Driving magnetic pole: Located on the mover, it has an asymmetric magnetization structure (e.g., a single-sided magnetic composite, a local component of a Halbach array, or a soft magnetic pole shoe added to one side of the magnetic pole). - Unidirectional thrust characteristics: When the mover is only subjected to the magnetic field of the upper orbit, its asymmetric magnetic pole structure ensures that the direction of the horizontal thrust is always consistent (e.g., always to the right) regardless of whether the current pole below the mover is N or S. When the mover is only subjected to the magnetic field of the lower orbit, since the polarity order of the lower orbit is opposite to that of the upper orbit (initially the S pole), the spatial phase of its magnetic field distribution is reversed as a whole. At this time, the direction of the horizontal thrust generated by the asymmetric magnetic pole structure of the mover is also reversed (for example, always to the left). 4. Pressure Actuation System -A device capable of applying controllable pressure to the upper functional layer (932a) and the lower functional layer (932b) respectively; Preferred solution: Two independent piezoelectric stacked actuators are attached to the back of the upper and lower functional layers respectively; or two independently controlled air or hydraulic bladders cover the entire area of ​​the upper and lower functional layers respectively. - Each actuator can apply continuously adjustable overall pressure to its corresponding entire functional layer without the need for partitioning along the direction of motion; 5. Control System Control system (952): Receives the linear position signal of the mover (for closed-loop control, not necessary) and drive commands, and coordinates the control of the pressure actuation system; 6. Working, speed regulation and reversing principles a. Move to the right When it is necessary to drive the actuator (922) to move to the right, the control system (952) performs the following operations: -Activate upper rail drive: Apply high voltage to the upper functional layer (932a) to make it a low permeability state. The magnetic circuit bypass on the back of the upper rail is blocked, and the magnetic flux is forced into the working air gap, strongly coupled to the mover pole. Utilizing the unidirectional thrust characteristic of the mover's asymmetric magnetic pole, a continuous rightward driving force is generated; - Shielding the lower rail magnetic field: Simultaneously apply low voltage (or zero voltage) to the lower functional layer (932b) to maintain its high permeability. A low magnetic reluctance bypass is formed on the back side of the lower rail, and most of the magnetic flux is short-circuited inside the rail. The working air gap magnetic field is greatly weakened, and the coupling effect of the lower rail magnetic field on the mover is almost completely eliminated. -The mover continues to move to the right under the driving force of the upper track until the end of the journey or a change of command; b. Move to the left When it is necessary to drive the actuator to move to the left, the control system (952) completely reverses the above pressure strategy: - Enable lower rail drive: Apply high voltage to the lower functional layer (932b) to make it a low permeability state and enable lower rail magnetic field coupling; - Shielding the upper orbit magnetic field: At the same time, apply low voltage (or zero voltage) to the upper functional layer (932a) to keep it in a high permeability state and shield the upper orbit magnetic field; At this point, the mover is primarily acted upon by the magnetic field of the lower orbit. Since the polarity sequence of the lower orbit is opposite to that of the upper orbit, the direction of its magnetic field is reversed overall, and the direction of the horizontal thrust generated by the mover's asymmetric magnetic pole structure is also reversed accordingly, thus generating a continuous driving force to the left; c. Stepless speed regulation When moving in any direction, by continuously adjusting the pressure value applied to the functional layer on the back of the current effective drive track, the magnetic permeability of the functional layer is continuously changed, thereby continuously adjusting the magnetic field strength of the working air gap of the track, realizing stepless and continuous adjustment of output thrust and speed. d. Braking and Holding For emergency braking or position holding, low pressure (or zero pressure) can be applied to the upper and lower functional layers simultaneously, so that both are in a high permeability state, the back of the upper and lower tracks are low magnetic reluctance bypasses, the working air gap magnetic field is simultaneously weakened to extremely weak, the driving force disappears, and the mover stops or holds its position freely. 7. Effects - The structure is extremely simple and the cost is low: it only requires two permanent magnet tracks, a single mover and two functional layers attached to the back. There is no need to set any control elements in the air gap, no need to partition along the direction of motion, and the manufacturing and assembly are simple. - Direct control and extremely fast response: Direction control is simplified to a binary switch of "pressurization / depressurization" between two overall functional layers, with clear logic; combined with the millisecond-level response of piezoelectric or pneumatic actuators, instantaneous reversal of motion direction can be achieved; - Inheriting all core advantages: It has the advantages of being all solid-state, without mechanical wear, stepless speed regulation and precise force control, with no electromagnetic noise and extremely low steady-state power consumption; - Good magnetic field uniformity: Multiple short magnets are arranged with alternating polarities, and the magnetic field strength in each magnetic pole region is basically the same, so the mover is subjected to stable force and has high motion accuracy; and the stroke can be arbitrarily extended by increasing the number of magnet units, and the magnetic field uniformity does not deteriorate with the increase of stroke. - Wide range of applications: Especially suitable for linear drive applications that require high structural compactness, dynamic response and positional accuracy, such as precision linear platforms, high-speed pick-and-place devices, automated valves, semiconductor equipment, etc. This embodiment corresponds to a preferred implementation of the linear drive configuration described in claim 8. It achieves bidirectional linear drive by applying a controllable pressure to the entire functional layer attached to the back of the upper and lower tracks, selectively activating the magnetic coupling of the upper or lower track. This embodiment demonstrates asymmetric magnetic poles as a preferred solution, but those skilled in the art will understand that the driving principle of this invention can also be achieved using conventional permanent magnet poles or reluctance salient pole structures, requiring only corresponding adjustments to the control strategy.

[0026] Example 5: Static magnetic energy drive device based on reluctance mover (two configurations) 1. Rotational configuration (based on an improvement of Example 2) a) Structural improvements: - Directly adopt the entire structure of Example 2 (annular airbag, functional layer, SNSN stator permanent magnet). - The only change: The permanent magnet rotor in the original embodiment 2 is replaced with a reluctance rotor (e.g. Figure 10 (As shown) - The reluctance rotor is made of laminated soft magnetic materials (such as silicon steel sheets), and its outer surface has salient pole teeth distributed circumferentially (e.g., 2 or 4 salient poles). The rotor itself does not contain permanent magnets. b) Operation method: The control system, pressure actuation system, and functional layer control methods are exactly the same as in Example 2. - The annular airbag is pressurized / depressurized in sections, forming a moving "drive window" on the functional layer. - The reluctance rotor experiences reluctance torque in a moving magnetic field gradient and rotates following the drive window. - Forward and reverse rotation are achieved by changing the pressurization sequence, and stepless speed regulation is achieved by adjusting the pressure. c) Explanation of the principle: Although the reluctance rotor does not contain permanent magnets, its salient pole structure will always tend to align with the direction of the magnetic field gradient in a moving magnetic field gradient, thus generating continuous rotational motion. This is completely compatible with the permanent magnet rotor of Embodiment 2 in terms of working principle, only the rotor material is different; 2. Linear configuration: A new scheme based on the gradient arrangement of permanent magnets (e.g.) Figure 11 (As shown) a) Structural design: - Upper track: The permanent magnets are arranged along the direction of motion, and the magnetism gradually increases (B value increases from left to right). -Lower track: The permanent magnets are arranged in the opposite direction to those in the upper track, and the magnetism gradually weakens (B value decreases from left to right). - Functional Layers: These layers are attached to the working air gap sides (not the back side) of the upper and lower rails, respectively, and are made of smart materials whose magnetic permeability changes reversibly with pressure. - Pressure-actuated system: A miniature piezoelectric array or airbag array partitioned along the direction of motion can apply controllable pressure to the functional layer. - Mover: Employs a reluctance mover (made of soft magnetic material) or a conventional permanent magnet mover. -Functional layer and pressure actuation system: b) Working principle: This configuration creates a moving "drive window" (low permeability region) on the functional layer through a pressure actuation system, thereby generating a moving magnetic field gradient in the air gap to pull the reluctance mover. When the mover needs to be driven to the right, the control system creates drive windows that move sequentially from left to right on the upper track functional layer, while simultaneously maintaining a depressurized state across the entire lower track functional layer, keeping it in a high permeability (shielded state). At this time, the magnetic field generated by the upper track forms a magnetic field gradient that moves from left to right as the drive windows move. The elongated soft magnetic material mover experiences continuous magnetic resistance in this gradient and is pulled to the right. When the mover needs to be driven to the left, the control system creates a drive window that moves sequentially from right to left on the lower track functional layer, while simultaneously maintaining a depressurized state across the entire upper track functional layer, keeping it in a high permeability (shielded state). At this time, the magnetic field generated by the lower track forms a magnetic field gradient that moves from right to left as the drive window moves, pulling the mover to the left. Instantaneous reversal of the motion direction of the mover can be achieved by completely reversing the pressure state of the two orbital functional layers and the movement direction of the drive window. c) The function of gradient permanent magnets: The gradient arrangement of the permanent magnet itself (increasing B value on the upper rail and decreasing B value on the lower rail) enhances the magnetic field gradient, making the magnetic field gradient formed when the pressure window is open steeper and increasing the driving torque. d) Speed ​​adjustment and shutdown: Speed ​​regulation: By continuously adjusting the pressure value in the drive window area, the steepness of the magnetic field gradient is changed, thus achieving stepless speed regulation. Shutdown: Depressurize all functional layer regions, making the entire functional layer highly permeable, short-circuiting the magnetic flux inside the track, and eliminating the force on the mover.

[0027] Those skilled in the art should understand that the above embodiments one to four, as well as the variations mentioned therein (such as liquid hydraulic drive), are all intended to elucidate the core and essential inventive concept of this invention from different perspectives: "to dynamically schedule the static magnetic energy of a permanent magnet by changing the permeability of the functional material in the magnetic circuit through controllable pressure, thereby achieving mover drive and speed regulation." Based on this core principle, any equivalent substitution, combination, or variation of the following elements that conforms to the inventive concept should be considered to fall within the protection scope of this invention: 1. Types of smart materials: Not limited to magnetorheological elastomers, Fe-Ga alloys or permalloys, any other material whose magnetic permeability can change significantly and reversibly with pressure; 2. Pressure actuator type: Not limited to piezoelectric arrays, air / liquid bladders or miniature hydraulic pistons, any actuator capable of generating controllable local or overall pressure; 3. Location and structure of the functional layer: It is not limited to being close to the inner surface of the permanent magnet or the back of the track. The functional layer can be set at the stator tooth tip, stator yoke, mover surface, inside the air gap, or even a multi-layer composite structure; 4. Magnetic circuit topology: Not limited to radial magnetic fields. Also applicable to axial magnetic field (disc) structures, linear drive configurations (including but not limited to biomimetic antagonistic pairs, selective shielding with upper and lower dual rails, etc.), or other special magnetic circuit configurations; 5. Control strategy: It can adopt closed-loop control based on position sensors or estimation control without position sensors; it can perform on / off magnetic circuit control or continuous analog speed regulation control. Furthermore, the mover of this invention can be not only a permanent magnet rotor (including conventional symmetrical and asymmetrical magnetic poles) but also a reluctance rotor (i.e., a salient pole rotor without permanent magnets). For the reluctance rotor, it relies on the salient pole effect to generate reluctance torque in a moving magnetic field gradient, thus achieving the driving principle of this invention, and has advantages such as zero demagnetization risk, high temperature resistance, and low cost. The reluctance rotor can be made of soft magnetic materials (such as laminated silicon steel sheets), with salient pole structures on its surface or inside for coupling with a static magnetic field. Those skilled in the art, based on the teachings of this invention, can apply the reluctance rotor to the device of this invention and, by adjusting the permeability of the functional layer through a pressure actuation system, form a moving magnetic field gradient, thereby driving the reluctance rotor to rotate. This embodiment also falls within the protection scope of this invention.

[0028] Explanation of the universality of magnetic circuit topology: It should be noted that the core principle of "regulating magnetic permeability through pressure to control static magnetic energy" proposed in this invention has high versatility and adaptability for macroscopic topological structures of magnetic circuits. The above embodiments are mainly described using a radial magnetic field structure (mover and stator nested in a cylindrical shape), but those skilled in the art should understand that this invention is also applicable to, but not limited to, the following configurations: 1. Axial magnetic field (disc) configuration: The static magnetic field source and the mover are arranged face-to-face in a disk shape. Permanent magnets are alternately magnetized circumferentially and arranged on one disk surface (or distributed on two disk surfaces to form dual excitation). The pressure-controlled permeability functional layer is located in the axial air gap between the stator disk and the mover disk, or inside the stator magnetic circuit, or on the back of the permanent magnets. The pressure actuation system (such as a two-dimensional planar array, annular capsule, or full-surface piezoelectric stack) applies pressure perpendicular to the disk surface to the functional layer to modulate the path of the axial magnetic flux. Its driving and control principle is exactly the same as that of the radial configuration. 2. Linear Motion Configuration: The principle described can be applied to achieve high-performance linear drive. Preferred embodiments include, but are not limited to: using a biomimetic antagonistic drive pair (dual-unit antagonistic structure) as described in Embodiment 3, or a single-actuator drive device with opposite polarity upper and lower dual rails and magnetic shunt control on the back side as described in Embodiment 4. The former simulates biological joint movement through the cooperative work of two mirror-symmetric units, while the latter achieves bidirectional linear drive through a single actuator combined with a double-layer permanent magnet track with opposite polarity and an integral functional layer attached to the back side of the track. Both fully embody the core principle of this invention; 3. Other derivative configurations: including but not limited to special relative motion configurations such as conical and spherical shapes, as well as derivative forms that unfold rotational configurations into infinitely long straight lines or closed loop curves; Therefore, any device that uses the aforementioned pressure-regulated permeability functional layer and controllable pressure actuation system to dynamically modulate the coupling between the permanent magnet static magnetic field and the mover to achieve mechanical drive, regardless of its magnetic circuit topology, motion form, functional layer placement position, or pressure application method, as long as its essence is to use pressure-regulated permeability to dispatch static magnetic energy, should fall within the protection scope of this invention.

Claims

1. A static magnetic energy driving device based on pressure-controlled permeability, characterized in that, include: A static magnetic field source is used to establish and store a static magnetic field. A mover is arranged opposite to the static magnetic field source and can move relative to it along a predetermined trajectory. The mover is provided with a magnetic pole structure for generating driving force under the action of a magnetic field. The pressure-regulated permeability functional layer is made of a smart material whose permeability changes significantly and reversibly with applied mechanical pressure, and it is disposed in the magnetic coupling path between the static magnetic field source and the mover; The pressure actuation system is configured to apply spatially distributed and magnitude-controllable mechanical pressure to a selected region of the pressure-regulated permeability functional layer; The control system, connected to the pressure actuation system, is configured to control the pressure actuation system to regulate the functional layer according to the position of the mover and the driving command, so as to selectively change the spatial distribution of the magnetic coupling between the static magnetic field source and the mover, thereby driving the mover to move along the predetermined trajectory.

2. The static magnetic energy driving device according to claim 1, characterized in that, The magnetic pole structure is a permanent magnet pole.

3. The static magnetic energy driving device according to claim 2, characterized in that, The permanent magnet poles have an asymmetric magnetization structure to achieve higher torque density under the same magnetic field gradient.

4. The static magnetic energy driving device according to claim 1, characterized in that, The magnetic pole structure is a salient pole structure, and the mover is made of soft magnetic material.

5. The static magnetic energy driving device according to claim 1, characterized in that, The smart material satisfies the following conditions: its relative permeability μ_high is high under zero pressure or reference low pressure, and its relative permeability μ_low is low under pressure, and μ_high / μ_low > 10; the smart material is selected from high permeability permalloy, iron-based nanocrystalline alloy or high permeability manganese-zinc ferrite.

6. The static magnetic energy driving device according to claim 1, characterized in that, The predetermined trajectory is a circular trajectory; the mover is a rotor; the control system is configured to control the pressure actuation system to form a circumferentially movable magnetic permeability control region on the functional layer to drive the rotor to rotate.

7. The static magnetic energy driving device according to claim 6, characterized in that, The pressure actuation system includes multiple independent and controllable pressure actuation units, which are arranged in an array along the circumference.

8. The static magnetic energy driving device according to claim 1, characterized in that, The predetermined trajectory is a straight line trajectory; the mover is a linear mover; the pressure actuation system is configured to regulate the functional layer to selectively enhance or weaken the magnetic coupling between different parts of the static magnetic field source and the mover, thereby driving the mover to reciprocate along a straight line.

9. A method for controlling a static magnetic energy drive device as described in any one of claims 1-8, characterized in that, Includes the following steps: Obtain the real-time position information and drive commands of the mover; According to the driving command and the position of the mover, the pressure actuation system is controlled to regulate the functional layer to selectively change the spatial distribution of the magnetic coupling between the static magnetic field source and the mover, thereby driving the mover to move along the predetermined trajectory; The regulation includes at least one of the following methods: forming a permeability regulation region on the functional layer that moves along the predetermined trajectory; or applying an overall controllable pressure to multiple regulation regions in the functional layer that correspond to different parts of the static magnetic field source, and selectively turning on or off the magnetic coupling of the corresponding parts by switching the high / low permeability states of each regulation region.

10. The method according to claim 9, characterized in that, Also includes: By continuously adjusting the mechanical pressure applied to the controlled area on the functional layer, the magnetic permeability of the area is continuously changed, thereby steplessly adjusting the force or speed driving the mover.

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