Homopolar opposite oblique peak thrust magnetic electric power system and control method

Abstract

The application relates to a magnetic electric power technology, and discloses a same-pole opposite oblique peak thrust magnetic electric power system and a control method. The system comprises a magnetic field generating module, a magnetic field responding module, a repulsion magnetic suspension working gap, a physically or addressable virtual grouping magnetic field unit, a power driving and transforming unit, a position or phase determining unit and a control unit. The system determines a current effective working window according to relative positions, and the control unit selects a corresponding controllable magnetic field executing unit to maintain, continuously establish or reestablish a target magnetic field relationship. The system continuously forms or re-forms a repulsion type oblique thrust window through a structure type annular single-pole repulsion out-of-phase continuous driving path, a peak polarity following type commutation continuous driving path or a combination of both; an oblique magnetic pressure distribution is integrated through an effective action area to form an oblique magnetic action resultant force F, and the signed projections of F in a local normal direction and a local tangential direction are Fn and Ft respectively, and the system is suitable for rotation, linear motion, attitude, joint and duct driving.

Description

Technical Field

[0001] This invention relates to the fields of magnetoelectric power, magnetic levitation drive, motor control and zoned energy flow management, specifically to a magnetoelectric power system and control method with opposite poles and oblique peak thrust. Background Technology

[0002] Existing permanent magnet synchronous motors, brushless DC motors, synchronous reluctance motors, and other magnetoelectric drive devices typically generate a time- or space-varying magnetic field through stator windings. This allows the stator magnetic field to interact with the rotor or mover magnetic field, generating electromagnetic torque or linear driving force. Existing technologies also employ magnetic field organization methods such as Halbach arrays, altering the array's magnetic field distribution through the spatial organization of the magnetization directions of adjacent magnetic units. This results in a relatively stronger magnetic field on one side of the array and a relatively weaker magnetic field on the other side. The applicant's previous Chinese invention patent CN121923524B disclosed a single-sided oblique thrust repulsion magnetic levitation power device based on a Halbach array. Through a phase-progressive magnetization angle sequence, an overall bias rotation angle, and / or a non-uniform, asymmetrical geometric size distribution, an oblique synthetic magnetic pressure distribution is formed within the magnetic levitation working gap, generating normal levitation force components and tangential driving force components. This patent also discloses permanent magnet, electromagnetic, and permanent magnet-electromagnetic hybrid implementation methods, as well as zoned excitation and various motion configurations. When the above technology is further applied to continuous relative motion, it is still necessary to further solve how to determine the local spatial region or phase interval currently involved in the action based on the relative position, how to correspond the local region to a controllable magnetic field execution unit with a real addressable basis, and how to continue or re-establish the target magnetic field relationship in the current local region in order to maintain the continuity of oblique magnetic action.

[0003] During rotational, linear, oscillating, kinetic, or axial relative displacement processes of the magnetic field generating and responding structures, the local magnetic field state between the relative working surfaces changes with mechanical position, angular position, linear position, spatial attitude parameters, or electrical angle. For continuous peak arrays, discrete peak arrays, stepped peak arrays, or equivalent peak electromagnetic field structures, the currently participating local region may enter a polarity transition region, an attraction tendency region, or a polarization preparation region. If the current effective working window cannot be determined based on the relative position information and the corresponding controllable magnetic field actuator cannot be controlled, the following may occur: weakened local tangential driving force, increased reverse action, attraction drag, reverse resistance torque, discontinuous commutation, or fluctuations in the working gap.

[0004] Existing three-phase inverter control, segmented winding control, zoned power supply, regenerative braking, and energy recovery technologies are typically designed for drive, commutation, braking, or recovery conditions, respectively. When applying these control technologies to a symmetrical peak magnetic field structure, it is still necessary to coordinate the determination of the currently participating local spatial region or phase interval, the selection of the corresponding controllable magnetic field actuator, the control of the solid polarity or composite polarity of the working surface, the adjustment of the target equivalent magnetic field vector direction, commutation protection, and the switching of energy flow states between different zones.

[0005] When controllable electromagnetic actuators are installed in the inner ring, outer ring, rotor, or other rotating components, and brush or slip ring power supply is not used, it is also necessary to address issues related to rotating-side power input, rectification, DC bus stability, local energy storage, zoned pulse excitation, and local energy recovery. Although conventional brushless excitation methods can provide rotating-side excitation power, rapid independent excitation of multiple controllable magnetic field execution zones, peak window pulse enhancement, and active demagnetization still require the establishment of corresponding non-contact rotating power supply units and rotating-side power management structures.

[0006] Conventional radial windings, axial windings, conductive flat wire windings, conductive coil windings, V-shaped embedded permanent magnet rotors, and surface slotted permanent magnet rotors are typically configured according to their respective magnetic field topologies and control relationships. Different motion configurations also have different motion forms and structural boundaries. Therefore, a unified control architecture is still needed that can reuse relative position determination, current effective working window determination, physical or virtual grouped magnetic field unit selection, working surface solid polarity, synthetic polarity or equivalent magnetic field vector direction adjustment, two drive paths, zoned energy flow management, and rotating side power supply interface. Based on the above, a magnetoelectric power system and control method with the same pole relative oblique peak thrust is needed. When the magnetic field generating module and the magnetic field response module move relative to each other, the current effective working window is determined according to their relative position information, the corresponding physical or virtual grouped magnetic field units are selected, the working surface solid polarity or synthetic polarity control or equivalent magnetic field vector direction adjustment is implemented, and the drive, compensation, commutation, damping, and energy flow states are coordinated according to the operating conditions. Summary of the Invention

[0007] (a) Technical problems to be solved

[0008] The main technical problem to be solved by this invention is: how to maintain the continuity of normal support and target tangential magnetic action when the magnetic field generating module and the magnetic field response module move relative to each other and the local magnetic field state currently involved changes with the mechanical position or phase, and reduce the reverse action, attraction drag, drive interruption, torque fluctuation and working gap fluctuation generated during polarity transition or commutation.

[0009] This invention also addresses the following technical problems:

[0010] 1. Determine the local spatial region or phase interval currently involved in support, drive, commutation, compensation, damping, or feedback, and establish a control relationship between it and the corresponding controllable magnetic field actuator;

[0011] 2. Through a structural annular single-pole phase repulsion phase-separation drive path or a peak polarity-following phase-commutation drive path, a phase repulsion oblique thrust window is formed or continued during relative motion; in the implementation method with a controllable magnetic field execution unit, the target magnetic field relationship within the current effective working window is maintained, continuously established, or re-established by combining the control of the working surface solid polarity, synthetic polarity, or equivalent magnetic field vector direction.

[0012] 3. Selective control of physical groups or virtual groups with addressable implementation basis, and the ability to set additional independent control groups in addition to the basic balanced excitation group, so that different groups can participate in driving, compensation, commutation, damping or feedback according to the current working position, phase or operating target;

[0013] 4. Control the target direction of the total tangential force component Ft under positive drive conditions or positive output target, and coordinate commutation protection, controlled damping, energy dissipation, bus clamping and controllable feedback under deceleration, overspeed, external reverse drag or damping demand conditions.

[0014] 5. In the implementation method that adopts a rotating side electromagnetic actuation structure and selects a non-contact rotating power supply method, rotating side power input, rectification, local energy storage, zoned continuous power supply or pulse power control are realized;

[0015] 6. The control architecture can be reused for conventional windings, traditional permanent magnet rotors, and linear, curved or spherical, articulated, radial, biaxial, hub, duct, and radial-axial composite configurations.

[0016] 7. In a pure permanent magnet implementation, how can the local opposite magnetic forces at different relative angles be continuously formed when the outer annular permanent magnet magnetic field structure rotates relative to the circumferentially fixed inner annular permanent magnet magnetic field structure?

[0017] (II) Technical Solution

[0018] To address the aforementioned technical problems, this invention provides a magnetoelectric dynamic system with opposite poles and oblique peak thrust. The magnetoelectric dynamic system includes a magnetic field generating module, a magnetic field response module, a repulsive magnetic levitation working gap 27 disposed between the magnetic field generating module and the magnetic field response module, one or more physical or virtual grouped magnetic field units G1 to Gn, a power drive and conversion unit, a position or phase determination unit, and a control unit, where n is an integer greater than or equal to 1. The magnetic field generating module and the magnetic field response module are arranged opposite to each other and are capable of at least one relative motion among rotational motion, linear motion, oscillation, attitude motion, or axial relative displacement.

[0019] The physical or virtual grouped magnetic field units G1 to Gn include at least one of physical grouped magnetic field units or virtual grouped magnetic field units. The physical grouped magnetic field unit includes at least one of physical partitioned windings, physical partitioned electromagnets, segmented permanent magnet modules, segmented electromagnetic modules, or permanent magnet-electromagnetic hybrid modules. The segmented permanent magnet modules can serve as non-passing electromagnetic field units; the physical partitioned windings, physical partitioned electromagnets, segmented electromagnetic modules, or permanent magnet-electromagnetic hybrid modules can serve as controllable magnetic field execution units.

[0020] The virtual grouped magnetic field unit is formed by dividing a continuous winding region, a continuous electromagnetic execution region, or a continuous magnetic field execution region into sections based on mechanical position, phase interval, space vector state, or control timing, and having at least one of the following: locally addressable electrical connection branches, independently controllable electromagnetic execution sections, or space vector controllability. In one virtual grouping embodiment, the continuous winding region or continuous electromagnetic execution region includes multiple winding taps, multiple power supply ports, multiple phase winding branches, multiple independently controllable electromagnetic execution sections, or locally connected winding branches that can be selectively connected by a switching matrix. The winding taps, power supply ports, phase winding branches, electromagnetic execution sections, or locally connected winding branches are respectively connected to a multiphase inverter unit, an H-bridge drive unit, a matrix conversion unit, or other selectively connectable power drive units.

[0021] The position or phase determination unit is used to acquire, determine, or estimate the relative position information between the magnetic field generating module and the magnetic field response module. The relative position information includes at least one of mechanical position, angular position, linear position, axial position, spatial attitude parameters, or electrical angle. Based on at least one of the relative position information, magnetic field detection data, a preset phase table, a preset commutation table, a preset polarity mapping relationship, model prediction results, or lookup table control results, the position or phase determination unit determines the local spatial region or phase interval currently involved in support, drive, commutation, compensation, damping, or feedback. This local spatial region or phase interval is the currently effective working window.

[0022] The control unit selects one or more winding taps, power supply ports, phase winding branches, electromagnetic execution sections, or local winding branches to energize according to the current effective working window, or controls multiple phase winding branches to form a space vector combination corresponding to the current effective working window, thereby forming a virtual control partition. The virtual grouped magnetic field unit is based on at least one of locally addressable electrically connected branches, independently controllable electromagnetic execution sections, or controllable space vectors. At least one of the physical or virtual grouped magnetic field units G1 to Gn is a controllable magnetic field execution unit electrically connected to the power drive and conversion unit.

[0023] When the working state of the corresponding controllable magnetic field execution unit is characterized by the solid polarity or composite polarity of the working surface, the position or phase determination unit determines the local polarity of the opposite working surface within the current effective working window based on at least one of local peak polarity, local principal polarity, or a preset polarity mapping relationship. When the working state of the corresponding controllable magnetic field execution unit is characterized by the direction of the equivalent magnetic field vector, the position or phase determination unit determines the direction of the target equivalent magnetic field vector based on at least one of the equivalent magnetic pole phase or a preset polarity mapping relationship.

[0024] In this specification, the normal and tangential directions are defined using the module being analyzed as the force reference object. When performing a force analysis on either the magnetic field generating module or the magnetic field response module, the direction that moves the force reference object away from the other module and increases the local working gap is defined as the local positive normal direction, and the preset relative motion direction of the force reference object relative to the other module is defined as the local positive tangential direction. The term "positive drive condition" or "positive output target" as used in this specification refers to a drive condition or output target where the target drive direction or target output direction is consistent with the local positive tangential direction.

[0025] The direction pointing from the interior of the corresponding working surface to the repulsive magnetic levitation working gap 27 is defined as the outward normal of the local working surface. When the component of the magnetic flux density along the outward normal of the local working surface is positive, the corresponding working surface is characterized as the N pole; when the component is negative, the corresponding working surface is characterized as the S pole.

[0026] The term "working surface polarity" as used in this specification includes both solid polarity and composite polarity. Solid polarity refers to the N-pole or S-pole attribute directly formed on the working surface facing the repulsive magnetic levitation working gap 27 by the corresponding permanent magnet module or controllable magnetic field actuator. Composite polarity refers to the N-pole or S-pole attribute determined by the superposition of magnetic fields generated by multiple magnetic field units according to local peak polarity, local principal polarity, or a preset polarity mapping relationship.

[0027] The local peak polarity refers to the N-pole or S-pole attribute determined based on the sign of the component whose absolute value along the normal direction of the local working surface reaches a local maximum within the current effective working window. The local principal polarity refers to the N-pole or S-pole attribute determined based on the sign of the average or integral value of the area of ​​the magnetic flux density component along the normal direction of the local working surface, or based on a pre-selected determination rule, within the effective area of ​​the current effective working window. The same determination rule is used for the same magnetoelectric power system under the same operating mode. The local peak polarity and the local principal polarity are used to determine the local polarity of the opposite working surface when the working state of the controllable magnetic field actuator is characterized by the solid polarity or composite polarity of the working surface.

[0028] The equivalent magnetic pole phase refers to a spatial phase parameter or electrical angle parameter used to characterize the correspondence between the current phase, the direction of the synthetic magnetic field vector, or the synthetic polarity of the controllable magnetic field actuator and the mechanical position, angular position, linear position, or preset spatial magnetic field distribution. The preset polarity mapping relationship refers to a pre-established correspondence between the mechanical position, angular position, linear position, or phase interval and the corresponding local working surface polarity, target working surface polarity, current direction, or target equivalent magnetic field vector direction. The preset polarity mapping relationship can be represented using a lookup table, commutation table, functional relationship, spatial vector relationship, calibration data, or control model. The position or phase determination unit can employ at least one of the following methods: magnetic sensor, Hall element, encoder, position sensor, back EMF estimation, current response estimation, magnetic field calibration data, preset phase table, preset commutation table, model prediction, lookup table control, or sensorless estimation.

[0029] The effective area referred to in this specification refers to the overlapping area within the current effective working window where opposite working surfaces actually participate in the oblique magnetic interaction and are used for area integration of the oblique magnetic pressure distribution. The target magnetic field relationship referred to in this specification includes situations where the solid polarity or composite polarity of the working surface is the same as the local polarity of the opposite working surface, or where the direction of the equivalent magnetic field vector is consistent with the direction of the target equivalent magnetic field vector.

[0030] The position or phase determination unit determines a preset pole-switching point and a synchronous pole-switching window including the preset pole-switching point based on the relative position information and at least one of local peak polarity, local dominant polarity, equivalent magnetic pole phase, or preset polarity mapping relationship. The preset pole-switching point refers to a reference position or phase, predetermined based on the relative position information and local magnetic field relationship, where the polarity of the target working surface or the direction of the target equivalent magnetic field vector changes. The synchronous pole-switching window refers to a preset position or phase interval, including the preset pole-switching point, used for performing current reduction, current follow-through, zero vector, weak excitation, disconnection, and re-establishment of the polarity of the target working surface or the direction of the target equivalent magnetic field vector.

[0031] The pole-switching preparation zone refers to a pre-set position or phase range for current reduction, follow current, on / off switching, or energy flow state switching before commutation; the preset pole-switching advance angle position refers to the position or phase determined relative to the preset pole-switching point according to a preset advance amount.

[0032] When the operating state of the controllable magnetic field actuator is characterized by the solid polarity of the working surface or the composite polarity formed by the superposition of multiple magnetic field units, the control unit controls the energizing phase, current direction, current amplitude, or on / off state of the controllable magnetic field actuator to make the solid polarity or composite polarity of the working surface the same as the local polarity of the opposite working surface, thus forming a like-pole relative relationship. When the operating state of the controllable magnetic field actuator is characterized by the equivalent magnetic field vector direction, the control unit controls the energizing phase, current direction, current amplitude, or on / off state of the controllable magnetic field actuator, and adjusts the equivalent magnetic field vector direction according to the equivalent magnetic pole phase or a preset polarity mapping relationship, so that a normal magnetic component along the local normal target direction and a tangential magnetic component along the local tangential target direction are formed between the opposite working surfaces. As the relative motion between the magnetic field generating module and the magnetic field response module changes and the current effective working window changes, the control unit selects and controls the corresponding controllable magnetic field execution unit according to the current effective working window to maintain, continuously establish or re-establish the target magnetic field relationship within the current effective working window, thereby causing the repulsive oblique thrust window to continuously form or reform with the relative motion.

[0033] The local normal target direction and the local tangential target direction are determined according to the operating conditions. Under positive drive conditions or positive output targets, the local normal target direction is the positive local normal direction, and the local tangential target direction is the positive local tangential direction; under deceleration, overspeed, external reverse drag, or damping demand conditions, the local tangential target direction is opposite to the current direction of motion. The control unit can control the size or stable state of the repulsive magnetic levitation working gap 27 by adjusting the magnitude of the normal magnetic action component.

[0034] Under forward drive conditions or forward output targets, the magnetoelectric power system can form a repulsive oblique thrust window within the repulsive magnetic levitation working gap 27. The repulsive oblique thrust window refers to a local spatial region or phase interval within the current effective working window where the resultant oblique magnetic force F has a positive normal force component Fn and a positive tangential force component Ft.

[0035] The oblique magnetic pressure distribution referred to in this specification refers to the surface density distribution of magnetic force formed by the magnetic field on the effective area, which simultaneously possesses local normal and local tangential components. An oblique magnetic pressure distribution is formed within the repulsive oblique thrust window, and the area integral of the oblique magnetic pressure distribution on the effective area forms the oblique magnetic resultant force F. The signed projections of the oblique magnetic resultant force F in the local normal and local tangential directions are respectively the normal force component Fn and the tangential force component Ft; the integrals of the normal and tangential magnetic components on the effective area correspond to the normal force component Fn and the tangential force component Ft, respectively.

[0036] When the projection of the resultant force F of the oblique magnetic action onto the local normal direction is in the same direction as the positive local normal direction, Fn is positive; when it is opposite to the positive local normal direction, Fn is negative. When the projection of the resultant force F of the oblique magnetic action onto the local tangential direction is in the same direction as the positive local tangential direction, Ft is positive; when it is opposite to the positive local tangential direction, Ft is negative.

[0037] When Fn is positive, the normal force component constitutes the normal support force component; when Ft is positive, the tangential force component constitutes the tangential driving force component along the local positive tangential direction. When the projection direction of the resultant oblique magnetic force F in the local tangential direction is opposite to the current direction of motion, the corresponding tangential magnetic force constitutes the tangential damping component; the sign of the tangential force component Ft is determined according to the relationship between the current direction of motion and the local positive tangential direction. In the attached figure, P is an equivalent position marker used to illustrate the vector relationship between the resultant oblique magnetic force F, the normal force component Fn, and the tangential force component Ft; it is not used as a physical quantity symbol for the oblique magnetic pressure distribution, nor does it represent the pressure value at a single point.

[0038] The term "unipolar repulsion" or "unipolar repulsion structure" as used in this specification refers to a local working state in which the physical or composite polarities of the working surfaces opposite each other are the same and form a repulsive magnetic effect within the current effective working window. It does not represent a physical magnetic monopole, nor does it represent a deviation from the laws of magnetic dipoles.

[0039] This invention includes a structural annular unipolar phase-repulsive phase-shifting continuous drive path and a peak polarity-following commutation continuous drive path. The structural annular unipolar phase-repulsive phase-shifting continuous drive path refers to a drive path that, through spatial phase shifting of the magnetic field structure, allows different phase-shifting segments, partitions, or magnetic field action segments to sequentially enter and leave the current effective working window determined by their relative positions, and to continuously form a repulsive oblique thrust window within the current effective working window, without requiring periodic polarity reversal of the controllable magnetic field actuator as a necessary condition. In embodiments with a controllable magnetic field actuator, the corresponding phase-shifting segment or partition can be selected according to the current effective working window, and structural grouped independent excitation control can be implemented. The magnetic field action segment referred to in this specification refers to a local magnetic field action region within the annular magnetic field structure, formed or divided according to a preset spatial phase-shifting relationship, and capable of sequentially entering and leaving the current effective working window with relative movement. Multiple physical or virtual grouped magnetic field units form phase-shifted segments or partitions, or multiple magnetic field action segments, arranged along the annular relative motion direction according to a preset circumferential phase-shifted angle, thereby forming a preset circumferential phase-shifted relationship. The peak polarity-following commutation drive path refers to, based on relative position information and at least one of local peak polarity, local dominant polarity, equivalent magnetic pole phase, or a preset polarity mapping relationship, switching the working surface entity polarity or synthetic polarity of the controllable magnetic field execution unit corresponding to the current effective working window, or adjusting its equivalent magnetic field vector direction, to re-form a repulsive oblique thrust window drive path. The two drive paths can be implemented separately or in combination.

[0040] In the implementation of the controllable magnetic field actuator, the present invention includes a structural group independent excitation control method and a peak polarity following commutation control method. The structural group independent excitation control method refers to selecting one or more physical or virtual group magnetic field units according to the current effective working window, and controlling the on / off state and excitation current amplitude of the controllable magnetic field actuators within them respectively; during startup, reversal, or operating condition switching, the energizing phase or current direction can also be adjusted. Under the same preset operating direction, the structural group independent excitation control method does not require the periodic reversal of the working surface polarity of the controllable magnetic field actuator with relative position as a necessary condition. The peak polarity following commutation control method refers to a control method that implements commutation of the controllable magnetic field actuator corresponding to the current effective working window based on relative position information and at least one of local peak polarity, local main polarity, equivalent magnetic pole phase, or preset polarity mapping relationship. The two control methods can be implemented separately or in combination.

[0041] This invention also provides a pure permanent magnet same-pole relative oblique peak thrust rotation system, comprising an inner monopole repulsive permanent magnet array assembly rotating body and an outer monopole repulsive permanent magnet array assembly rotating body arranged coaxially, with a repulsive magnetic levitation working gap formed between their opposing working surfaces. The inner monopole repulsive permanent magnet array assembly rotating body maintains a fixed circumferential position around a common axis, while the outer monopole repulsive permanent magnet array assembly rotating body rotates around the common axis.

[0042] The outer monopole repulsive permanent magnet array assembly rotating body includes multiple permanent magnet magnetic field segments arranged according to a preset circumferential phase-shifting relationship, forming a sloping peak magnetic flux distribution spatially offset along the circumferential relative motion direction on the working side. The current effective working window is determined based on the relative angular position of the outer monopole repulsive permanent magnet array assembly rotating body with respect to the inner monopole repulsive permanent magnet array assembly rotating body. During rotation, the permanent magnet magnetic field segments sequentially enter and leave the current effective working window, causing the repulsive oblique thrust window to be continuously formed or reformed along the circumferential direction. The preset circumferential phase-shifting relationship between the multiple permanent magnet magnetic field segments is used to implement a structural annular monopole repulsive phase-shifting continuous drive path.

[0043] In one embodiment of axial position adjustment, the inner monopole repulsive permanent magnet array assembly rotator can move along the common axis while maintaining a fixed circumferential position, so as to adjust at least one of the following: axial insertion depth, effective overlap length, effective area, or number of permanent magnet magnetic field segments participating in the magnetic effect.

[0044] In a structurally designed grouped independent excitation implementation of controllable magnetic field actuators, at least one of the magnetic field generating module and the magnetic field response module includes a main repulsive magnetic unit facing the repulsive magnetic levitation working gap 27, and an attractive auxiliary magnetic unit disposed in an embedded slot, a non-working side, or a reverse closed path away from the repulsive magnetic levitation working gap 27. The control unit performs grouped independent excitation on one or more controllable magnetic field actuators corresponding to the main repulsive magnetic unit, such that within the current effective working window, the solid polarity or combined polarity of the working surface of the controllable magnetic field actuator is the same as the polarity of the local working surface of the main repulsive magnetic unit facing the repulsive magnetic levitation working gap 27, forming a local same-pole relative relationship. The attractive auxiliary magnetic unit is used to guide the auxiliary magnetic flux to close along the embedded slot, the non-working side, or the reverse closed path.

[0045] Furthermore, the main repulsive magnetic unit includes a main peak oblique repulsive magnetic unit and an adjacent secondary peak reverse oblique magnetization receiving magnetic unit. The main peak oblique repulsive magnetic unit faces the repulsive magnetic levitation working gap 27; at least a portion of the secondary peak reverse oblique magnetization receiving magnetic unit faces the repulsive magnetic levitation working gap 27, used to form an oblique peak receiving magnetic field and a magnetic flux direction transition. Two attraction auxiliary magnetic units are respectively disposed in the embedded slots, non-working sides, or back-to-back closed paths at both ends of the main repulsive magnetic unit. The main repulsive magnetic unit and the two attraction auxiliary magnetic units have inner segmented soft magnetic return plates on the side facing away from the repulsive magnetic levitation working gap 27 to form a back-to-back magnetic flux closed path.

[0046] The primary repulsive magnetic field structure referred to in this specification is a magnetic field structure composed of at least one of a primary repulsive magnetic unit facing the repulsive magnetic levitation working gap 27 and a corresponding controllable magnetic field execution unit, used to form a magnetic field structure in which like poles repel each other within the current effective working window. The auxiliary magnetic flux closure and magnetic field shaping structure includes at least one of the following: an attractive auxiliary magnetic unit, an inner segmented soft magnetic return sheet, a soft magnetic return structure, a back yoke, an embedded slot, a non-working side magnetic circuit, or a reverse closure path, used to guide the closure of the auxiliary magnetic flux and change the magnetic flux density distribution, magnetic field gradient distribution, or magnetic flux closure path within the repulsive magnetic levitation working gap 27.

[0047] Under forward drive conditions or forward output targets, the control unit selects one or more controllable magnetic field actuators according to the current effective working window, and controls their energizing phase, current direction, current amplitude, or on / off state to make the total tangential force component Ft within the current effective working window reach or recover to a positive value. Under deceleration, overspeed, external reverse drag, or damping demand conditions, the control unit controls the corresponding controllable magnetic field actuator to form the tangential magnetic action component in the opposite direction to the current motion direction to generate a controlled tangential damping component; the sign of the tangential force component Ft is determined according to the relationship between the current motion direction and the local positive tangential direction.

[0048] In one embodiment of a sloping peak magnetic field structure, at least one of the magnetic field generating module and the magnetic field response module includes at least one of the following: a continuous sloping peak array, a discrete sloping peak array, a stepped sloping peak array, an integrated magnetized sloping peak magnet, an obliquely magnetized permanent magnet array, a non-Halbach continuous sloping peak gradient permanent magnet array, a continuous sloping peak Halbach permanent magnet array, or an equivalent sloping peak electromagnetic field structure formed by oblique windings. The sloping peak magnetic field structure, through at least one of the following: a preset magnetization direction of the magnetic unit, an overall bias relationship, non-uniform geometric dimensions, a working side position, a magnetic flux closed path, a winding arrangement direction, or a wiring angle, creates a spatially non-uniform magnetic flux distribution on the working side, and forms at least one of the following: a local peak polarity, a local principal polarity, an equivalent magnetic pole phase, or a preset polarity mapping relationship that can be identified by the position or phase determination unit. The term "sloping peak magnetic flux distribution" as used in this specification refers to a magnetic flux distribution in which the high-value region of magnetic flux density or high-value region of magnetic field gradient on the working side is spatially offset along a preset relative motion direction, and the local magnetic field vector in the high-value region is tilted relative to the local working surface normal, thus simultaneously having a local normal magnetic field component and a local tangential magnetic field component.

[0049] The classical Halbach phase-progressive magnetization relationship referred to in this specification refers to a magnetization organization relationship in which the magnetization direction of adjacent magnetic units changes sequentially along the array arrangement direction according to a preset constant phase increment, so that the magnetic field on one side of the array is relatively enhanced and the magnetic field on the other side is relatively weakened. The continuous peak-slope array refers to a magnetic field array in which the peak-slope magnetic flux distribution on the working side changes continuously or approximately continuously along the relative motion direction. The continuous peak-slope Halbach permanent magnet array refers to a permanent magnet array in which adjacent magnetic units are organized according to the classical Halbach phase-progressive magnetization relationship, and at least one of the following is used to create a continuous or approximately continuous peak-slope magnetic flux distribution on the working side through overall magnetization direction bias, non-uniform geometric dimensions, or working side position. The non-Halbach continuous peak-slope gradient permanent magnet array refers to a permanent magnet array in which the classical Halbach phase-progressive magnetization relationship is not satisfied, and at least one of the following is used to create a continuous or approximately continuous peak-slope magnetic flux distribution on the working side through magnetic unit geometry, working side position, magnetization direction, or magnetic flux closed path.

[0050] The discrete peak array refers to a magnetic field array in which multiple mutually separated magnetic field units are arranged along the relative motion direction according to preset positions and preset magnetic field directions, forming corresponding peak magnetic field regions at different discrete positions. The stepped peak array refers to a magnetic field array in which multiple magnetic field units are arranged along the relative motion direction according to a stepped relationship in terms of size, working side position, magnetic field strength or magnetization direction, forming successively varying peak magnetic field regions.

[0051] In an embodiment where a controllable magnetic field actuator is configured and a peak polarity-following commutation drive path is adopted, the control unit performs peak polarity-following commutation control for the continuous peak array, discrete peak array, stepped peak array, or equivalent peak electromagnetic field structure. The position or phase determination unit determines a preset pole-switching point and a synchronous pole-switching window containing the preset pole-switching point based on the relative position information and at least one of local peak polarity, local dominant polarity, equivalent magnetic pole phase, or preset polarity mapping relationship. The peak polarity-following commutation control can employ at least one power control method among three-phase inverter control, two-phase control, four-phase control, six-phase control, H-bridge group control, matrix transformation control, or switching pulse control. When the operating state of the corresponding controllable magnetic field actuator is characterized by the solid polarity or composite polarity of the working surface, the control unit controls the energizing phase, current direction, current amplitude, or on / off state of the corresponding controllable magnetic field actuator to make the solid polarity or composite polarity of the working surface the same as the local polarity of the opposite working surface. When the working state of the corresponding controllable magnetic field actuator is characterized by the direction of the equivalent magnetic field vector, the control unit adjusts the direction of the equivalent magnetic field vector of the corresponding controllable magnetic field actuator to the target equivalent magnetic field vector direction by controlling the energizing phase, current direction, current amplitude or on / off state of the corresponding controllable magnetic field actuator.

[0052] When the relative position is about to reach the preset pole-switching point or has entered the synchronous pole-switching window, and it is determined that the solid polarity or composite polarity of the working surface will be different from the local polarity of the opposite working surface after the preset pole-switching point, or it is determined that the equivalent magnetic field vector direction will deviate from the target equivalent magnetic field vector direction after the preset pole-switching point, the control unit controls the corresponding controllable magnetic field execution unit to perform current reduction, current follow-through, zero vector, weak excitation or disconnection before the preset pole-switching point or within the synchronous pole-switching window, and adjusts the energizing phase, current direction or current amplitude, so that the solid polarity or composite polarity of the working surface is the same as the local polarity of the opposite working surface again, or the equivalent magnetic field vector direction is readjusted to the target equivalent magnetic field vector direction, thereby re-forming the repulsive oblique thrust window.

[0053] The control unit has an overall synchronous working mode and a zone-independent working mode. In the overall synchronous working mode, multiple controllable magnetic field actuators perform energization or pole switching according to a unified phase relationship or a cooperative phase relationship. In the zone-independent working mode, different controllable magnetic field actuators enter the driving state, compensation state, weak excitation state, disconnection state, high resistance state, freewheeling state, zero vector state, controlled damping state, or pulse-type controllable feedback state respectively, according to the current effective working window, commutation state, or energy flow demand. The corresponding energy dissipation unit or bus clamping unit enters the energy dissipation state or bus clamping state respectively.

[0054] In one implementation of an additional independent control group, when the basic balancing excitation uses a six-phase or other multi-phase grouping, the magneto-electric power system sets one or more additional independent control groups Gc,1 to Gc,m outside the basic balancing excitation grouping, where m is an integer greater than or equal to 1. The additional independent control groups belong to the additional controllable groups among the physical or virtual grouped magnetic field units G1 to Gn, and are distinct from the basic balancing excitation grouping. The control unit, based on at least one of the current effective working window, target angular acceleration, rotational speed, load state, or energy storage state, controls at least one additional independent control group to provide additional tangential driving force or torque increment within a preset working interval, and after the preset working interval ends, causes the corresponding additional independent control group to enter a weak excitation state, a disconnected state, a controlled damping state, or a pulse-type controllable feedback state. The additional independent control groups are not used as phase reversal angle variables.

[0055] The power drive and conversion unit includes at least one of the following: a unidirectional drive unit, an inverter unit, a rectifier unit, a bidirectional inverter-rectifier unit, an H-bridge drive unit, a multiphase power control unit, a current source drive unit, a voltage source drive unit, a matrix conversion unit, a switch matrix, an energy dissipation unit, a bus clamping unit, an energy storage interface, or an external load interface, and is connected to at least one of the following: a DC bus, an energy storage unit, or an external load.

[0056] When the magnetoelectric power system has at least two controllable magnetic field actuators, under driving conditions, at least one controllable magnetic field actuator enters the driving state, and at least one other controllable magnetic field actuator enters the compensation state, weak excitation state, disconnection state, high resistance state, freewheeling state, or zero vector state. Under conditions such as pole commutation preparation zone, preset pole commutation advance angle position, synchronous pole commutation window, deceleration condition, overspeed condition, external reverse drag condition, or damping requirement condition, at least one controllable magnetic field actuator enters the controlled damping state or pulsed controllable feedback state, or causes the corresponding energy dissipation unit or bus clamping unit to enter the energy dissipation state or bus clamping state. The electrical energy generated under the pulsed controllable feedback state is formed by electromagnetic conversion of the mechanical energy released by the rotor or mover during external reverse drag, deceleration, or other relative motion, or originates from other external mechanical energy inputs and is input to the DC bus, energy storage unit, or external load, or dissipated by the energy dissipation unit.

[0057] In one embodiment of rotary-side electromagnetic actuation, at least one controllable magnetic field actuation unit among the physical or virtual grouped magnetic field units G1 to Gn is disposed on a rotating component. The rotary-side controllable magnetic field actuation unit can be powered via a conductive slip ring or by a non-contact rotary power supply method. When a non-contact rotary power supply method is used, the magneto-electro-dynamic system further includes a primary power coupling unit disposed on the fixed side, a secondary power coupling unit disposed on the rotating side, a rotary-side rectifier unit, a rotary-side DC bus, and a rotary-side power drive unit. The primary power coupling unit and the secondary power coupling unit transmit inductive power through a rotary coupling gap. The power output from the secondary power coupling unit is rectified by the rotary-side rectifier unit and input to the rotary-side DC bus, and then powered by the rotary-side power drive unit to the corresponding controllable magnetic field actuation unit and the independent magnetic adjustment branch. The non-contact rotary power supply unit can employ a rotary transformer-type inductive coupling structure.

[0058] The rotating-side DC bus can be connected to a local energy storage unit, which includes at least one of a supercapacitor, a pulse capacitor, or other energy storage devices capable of providing pulse power. This unit stores electrical energy in the off-peak operating region and provides pulse power to the corresponding controllable magnetic field actuator when the current effective operating window enters the preset peak operating region. The control unit controls charging, discharging, pulse enhancement, weak excitation, current reduction, disconnection, active demagnetization, or local energy recovery states based on at least one of the following: the current effective operating window, commutation state, rotating-side DC bus voltage, local energy storage state, magnetic field detection data, or prediction results. In the local energy recovery state, the feedback energy can be input to the rotating-side DC bus or the local energy storage unit. When the non-contact rotating power supply unit has bidirectional energy transfer capability, at least a portion of the feedback energy can also be input to the fixed-side DC bus or an external load. The non-contact rotating power supply unit and the local energy storage unit constitute the power supply and local power management subsystem of the rotating-side electromagnetic actuator.

[0059] In one embodiment of an electromagnet array, at least one of the magnetic field generating module and the magnetic field response module includes multiple electromagnet partitions, electrical connection terminal groups 20, insulating eddy current suppression pads 21, a flat strip-shaped conductive bridge top panel 22, an N-pole flat strip-shaped conductive bridge structure 23, an S-pole flat strip-shaped conductive bridge structure 24, and an electromagnet module conductive bridge base panel 25. The electrical connection terminal groups 20 are electrically connected to corresponding electromagnet partitions; the insulating eddy current suppression pads 21 are disposed between adjacent conductive structures to form electrical isolation and reduce eddy current coupling between adjacent conductive structures; the N-pole flat strip-shaped conductive bridge structure 23 and the S-pole flat strip-shaped conductive bridge structure 24 are used to form current conduction paths capable of changing the current direction and working surface polarity of the corresponding electromagnet partition. The magnetic fields generated by multiple electromagnet partitions are superimposed to form a composite magnetic field, which can be characterized by the composite polarity or the direction of the equivalent magnetic field vector.

[0060] In one all-electromagnetic inner and outer ring embodiment, the inner ring electromagnet array and the outer ring electromagnet array are arranged opposite each other with the repulsive magnetic levitation working gap 27 between them; the fixed side electromagnet array can be powered by the fixed side power drive unit, and the rotating side electromagnet array can be powered by the conductive slip ring, or when a non-contact rotating power supply unit is configured, it can be powered by the non-contact rotating power supply unit and the rotating side local energy storage unit.

[0061] In one embodiment of the oblique winding, the magnetoelectric power system includes at least one of a radially oblique slotted conductive flat wire winding unit 28, a radially oblique conductive coil winding unit 29, an axially oblique base-type conductive flat wire winding unit 30, or an axially offset conductive flat wire winding unit 44. The slot direction, coil arrangement direction, mounting direction, or wiring angle of the winding unit is obliquely or offset relative to at least one of the local normal, local tangential, radial, or axial directions, so that when the winding unit is energized, it forms an oblique electromagnetic field with local normal magnetic field components and local tangential magnetic field components.

[0062] In a conventional winding and conventional permanent magnet rotor compatible embodiment, the magnetoelectric power system includes at least one of a partitioned winding structure or a permanent magnet rotor structure. The partitioned winding structure includes multiple independently controllable conductive coil winding sections or conductive flat wire winding sections distributed axially, radially, or circumferentially. The permanent magnet rotor structure includes a V-shaped embedded permanent magnet rotor array assembly 48 or a surface-grooved permanent magnet rotor array assembly 49. When the magnetoelectric power system includes the permanent magnet rotor structure, the control unit, according to the current effective working window, controls a controllable magnetic field actuation unit positioned opposite the permanent magnet rotor structure, so that the solid polarity or composite polarity of its working surface is the same as the polarity of the rotor's current relative local working surface, or adjusts its equivalent magnetic field vector direction according to the equivalent magnetic pole phase or a preset polarity mapping relationship.

[0063] In one axially coupled phase-shifting embodiment, the magnetoelectric power system includes an axially coupled phase-shifting positioning support assembly 11, an inner stator of the permanent magnet array group, and an outer rotor of the permanent magnet array group. The inner stator of the permanent magnet array group includes multiple circumferentially phase-shifting segments arranged axially and is capable of axial movement relative to the outer rotor of the permanent magnet array group, while the outer rotor of the permanent magnet array group maintains axial positioning. Figure 10 In the illustrated embodiment, the stator 40 of the three-segment stator with axially coupled monopole repulsive permanent magnet array includes three circumferentially staggered segments arranged along the axial direction. One of the circumferentially staggered segments is a controllable electromagnetic actuation segment formed by a radially partitioned monopole repulsive Halbach electromagnet array assembly 26, and the other two circumferentially staggered segments are permanent magnet staggered segments. The axial movement of the stator within the permanent magnet array changes at least one of the following: axial insertion depth, effective overlap length, effective working area, or number of staggered segments participating in the action.

[0064] In one multi-configuration embodiment, the magnetoelectric power system includes at least one of the following: a linear drive structure, a curved or spherical attitude control structure, a joint drive structure, a radial drive structure, a double-sided axial drive structure, a radial-axial composite magnetic levitation motor structure, a radial hub motor structure, a radial-axial composite ducted motor integrated inner rotor structure, or an inner and outer rotor integrated composite ducted structure.

[0065] The linear drive structure includes a stator magnetic field structure and a mover magnetic field response structure arranged opposite to each other; the curved or spherical attitude control structure includes a curved stator magnetic field structure and a curved permanent magnet array mover structure; the joint drive structure includes axial magnetic field structures arranged on both sides of the moving component and drive channels that control the magnetic field forces on both sides respectively; the radial drive structure includes a radial winding structure, a ring-shaped permanent magnet array rotor structure and a heat dissipation structure that rotates with the rotor structure; the double-sided axial drive structure includes axial winding structures arranged on both sides of the stator and axial permanent magnet array rotor structures arranged opposite to the axial winding structures respectively; the radial-axial composite magnetic levitation motor structure includes a radial magnetic field actuation structure and an axial magnetic field actuation structure; the radial hub motor structure includes an inner stator electromagnetic actuation ring structure and an outer rotor permanent magnet ring array structure; the radial-axial composite ducted motor integrated inner rotor structure includes an axial electromagnet ring structure, a radial electromagnet ring structure and an inner rotor blade structure; the inner and outer rotor integrated composite ducted structure includes an inner magnetic field drive structure, an outer magnetic field drive structure and an integrated ducted engine blade connecting the inner rotor and the outer rotor.

[0066] All the above configurations share a common control chain: "relative position or phase determination - current effective working window determination - selection of corresponding physical or virtual grouped magnetic field units - control of working surface entity polarity, composite polarity or target equivalent magnetic field vector direction - maintenance, continuation or re-establishment of target magnetic field relationship within the current effective working window". Depending on the configuration and operating conditions, at least one of the two drive paths is adopted, along with a control method and zoned energy flow management adapted to the adopted drive path.

[0067] (III) Control Methods

[0068] The present invention also provides a control method for a magnetoelectric dynamic system with opposite poles and oblique peak thrust, comprising the following steps:

[0069] 1. Acquire, determine, or estimate the relative position information between the magnetic field generating module and the magnetic field response module, and determine the current effective working window based on at least one of the relative position information, magnetic field detection data, preset phase table, preset commutation table, preset polarity mapping relationship, model prediction results, or lookup table control results;

[0070] 2. Determine one or more physical or virtual grouped magnetic field units G1 to Gn according to the current effective working window; when the working state of the corresponding controllable magnetic field execution unit is characterized by the solid polarity or composite polarity of the working surface, determine the local polarity of the opposite working surface within the current effective working window according to at least one of the local peak polarity, local principal polarity, or preset polarity mapping relationship; when the working state of the corresponding controllable magnetic field execution unit is characterized by the equivalent magnetic field vector direction, determine the target equivalent magnetic field vector direction according to at least one of the equivalent magnetic pole phase or preset polarity mapping relationship.

[0071] 3. When the working state of the corresponding controllable magnetic field actuator is characterized by the solid polarity or composite polarity of the working surface, control the energizing phase, current direction, current amplitude, or on / off state of the corresponding controllable magnetic field actuator to make its solid polarity or composite polarity the same as the local polarity of the opposite working surface; when the working state of the corresponding controllable magnetic field actuator is characterized by the equivalent magnetic field vector direction, adjust its equivalent magnetic field vector direction to the target equivalent magnetic field vector direction by controlling the energizing phase, current direction, current amplitude, or on / off state of the corresponding controllable magnetic field actuator, so that a normal magnetic component along the local normal target direction and a tangential magnetic component along the local tangential target direction are formed between the opposite working surfaces; determine the local normal target direction and the local tangential target direction according to the operating conditions;

[0072] 4. Execute at least one of the following controls based on the adopted drive path: When using a structural ring-shaped single-pole phase repulsion staggered phase connection drive path, select the staggered phase segment, partition, or magnetic field action segment corresponding to the current effective working window to implement structural group independent excitation control; when using a peak polarity following commutation connection drive path, implement peak polarity following commutation control based on the relative position information and at least one of local peak polarity, local main polarity, equivalent magnetic pole phase, or preset polarity mapping relationship; as the relative movement between the magnetic field generating module and the magnetic field response module and the current effective working window... The change of the effective working window allows for the selection and control of the corresponding controllable magnetic field execution unit based on the current effective working window. This maintains, continues to establish, or re-establishes the target magnetic field relationship within the current effective working window, thereby causing the repulsive oblique thrust window to continuously form or re-form with the relative motion. When additional independent control groups Gc,1 to Gc,m are set, at least one additional independent control group is controlled to provide additional tangential driving force or torque increment within a preset working interval. After the interval ends, it is made to enter a weak excitation state, a disconnected state, a controlled damping state, or a pulse-type controllable feedback state.

[0073] 5. Through the above control, a repulsive oblique thrust window is formed within the repulsive magnetic levitation working gap 27, and an oblique magnetic pressure distribution is formed on the effective working area; the area integral of the oblique magnetic pressure distribution on the effective working area forms the oblique magnetic resultant force F, and the signed projections of the oblique magnetic resultant force F in the local normal and local tangential directions are the normal force component Fn and the tangential force component Ft, respectively;

[0074] 6. Based on the relative position information and at least one of local peak polarity, local main polarity, equivalent magnetic pole phase, or preset polarity mapping relationship, determine a preset pole-switching point and a synchronous pole-switching window containing the preset pole-switching point; when the relative position is about to reach the preset pole-switching point or has entered the synchronous pole-switching window, and it is determined that the solid polarity or composite polarity of the working surface will be different from the local polarity of the opposite side working surface after the preset pole-switching point, or the equivalent magnetic field vector direction will deviate from the target equivalent magnetic field vector direction after the preset pole-switching point, control the corresponding controllable magnetic field execution unit to perform current reduction, current continuation, zero vector, weak excitation, or disconnection before the preset pole-switching point or within the synchronous pole-switching window, and adjust the energizing phase, current direction, or current amplitude to re-establish the target working surface polarity or the target equivalent magnetic field vector direction;

[0075] 7. Under conditions of deceleration, overspeed, external reverse drag, or damping requirements, the tangential magnetic action component is formed in the opposite direction to the current direction of motion; according to the energy flow requirements, the corresponding controllable magnetic field actuator is put into a controlled damping state or a pulsed controllable feedback state, or the corresponding energy dissipation unit or bus clamping unit is put into an energy dissipation state or a bus clamping state.

[0076] 8. When at least one controllable magnetic field actuator is mounted on a rotating component and a non-contact rotating power supply method is adopted, non-contact power transmission is performed between the fixed-side primary power coupling unit and the rotating-side secondary power coupling unit. The rectified power is input to the rotating-side DC bus or the local energy storage unit. Based on the current effective working window, commutation state, bus voltage, or energy storage state, continuous power supply, pulse enhancement, current reduction, disconnection, active demagnetization, or local energy recovery is controlled. When the non-contact rotating power supply unit has bidirectional power transmission capability, at least a portion of the feedback power is input to the fixed-side DC bus or the external load.

[0077] (iv) Beneficial effects

[0078] Compared with the prior art, the present invention has at least the following beneficial effects:

[0079] 1. This invention determines the current effective working window based on relative position information, selects the corresponding physical or virtual grouped magnetic field unit, and maintains, continuously establishes, or re-establishes the target magnetic field relationship within the current effective working window by controlling the working surface entity polarity, composite polarity, or target equivalent magnetic field vector direction. This allows the repulsive oblique thrust window to be continuously formed or re-formed with relative motion, thereby improving the continuity of normal support and target tangential magnetic action during continuous relative motion.

[0080] 2. This invention enables the area integral of the oblique magnetic pressure distribution over the effective working area to form the oblique magnetic resultant force F, and uses Fn and Ft to characterize the signed projections of F in the local normal and local tangential directions, respectively, which is beneficial for forming non-contact support and tangential drive output within the same working gap.

[0081] 3. The present invention guides the closure of auxiliary magnetic flux and adjusts the magnetic flux distribution in the working gap by using a main repulsive magnetic unit facing the working gap and an attractive auxiliary magnetic unit and a return magnetic structure set in the embedded slot, non-working side or back closed path, which helps to reduce local attraction drag, reverse resistance torque or jamming tendency.

[0082] 4. This invention uses a structural annular single-pole phase-repulsive phase-shifting continuous drive path and a peak polarity-following phase-switching continuous drive path to form a phase-repulsive oblique thrust window by connecting different phase-shifting segments. When the polarity of the target working surface or the target equivalent magnetic field vector direction deviates, transition control and target state reconstruction are implemented, which helps to reduce drive force interruption, reverse action and torque fluctuation. Under damping conditions, it can also make the tangential magnetic effect form in the opposite direction to the current direction of motion.

[0083] 5. The present invention forms a virtual grouped magnetic field unit with addressable implementation basis through winding taps, power supply ports, phase winding branches, independent electromagnetic execution sections, switch matrix or space vector control, and can set additional independent control groups to provide additional tangential driving force or torque increment in a preset working range. At the same time, it coordinates drive, commutation, damping, dissipation, bus clamping and controllable feedback through partitioned energy flow management.

[0084] 6. The present invention can transmit electrical energy to the controllable magnetic field actuation unit on the rotating side through a non-contact rotating power supply unit, and implement zoned continuous power supply or peak window pulse enhancement through rotating side rectification, DC bus, local energy storage unit and rotating side power drive unit, which helps to reduce the dependence on traditional brushes or slip rings.

[0085] 7. This invention enables conventional windings, traditional permanent magnet rotors and different magnetic field topologies to be adapted to the magnetic field control system by using oblique windings, partitioned windings, terminal angle offset, working surface solid polarity, composite polarity or equivalent magnetic field vector direction control and axial coupling phase misalignment, and allows multiple rotational, linear, attitude and compound motion configurations to be reused to jointly control the main chain.

[0086] 8. This invention, through the circumferential fixation of the inner annular permanent magnet magnetic field structure, the rotation of the outer annular permanent magnet magnetic field structure, and the pre-set circumferential phase reversal of the outer permanent magnet magnetic field action segment, causes the permanent magnet magnetic field action segment to sequentially enter and leave the current effective working window. This, in a pure permanent magnet implementation, continuously forms localized, same-pole, opposing oblique magnetic interactions, and generates a magnetic torque around a common axis on the rotating body of the outer monopole repulsive permanent magnet array assembly. This magnetic torque characterizes the localized magnetic interaction result within the current effective working window and does not necessarily indicate that a continuous net positive torque will be formed within the complete mechanical cycle under conditions of no external energy input or no changes in external constraint states. Attached Figure Description

[0087] Figure 1 This is a schematic diagram of a radially misaligned monopole repulsive permanent magnet array, where A is a schematic diagram of the basic magnetic unit arrangement, B is a schematic diagram of the misaligned and embedded closed structure, C is a schematic diagram of the inner rotor configuration, and D is a schematic diagram of the outer rotor configuration. Figure 2 The diagram shows a non-Halbach continuous slope gradient permanent magnet array, where A is a schematic diagram of a planar gradient structure, B is a schematic diagram of an arc-shaped gradient structure, C is a schematic diagram of an inner rotor configuration, and D is a schematic diagram of an outer rotor configuration. Figure 3The diagram shows a radially continuous peak Halbach permanent magnet array. In the diagram, A is a continuous peak magnetic unit with the first to fourth magnetic units arranged at a 45° angle, and the relationship between the resultant force F of the oblique magnetic action, the normal force component Fn, and the tangential force component Ft. In the diagram, B is a continuous peak magnetic unit with the first to fourth magnetic units arranged in a horizontal-vertical combination, and the relationship between the resultant force F of the oblique magnetic action, the normal force component Fn, and the tangential force component Ft. In the diagram, C is an inner rotor configuration diagram, and D is an outer rotor configuration diagram. Figure 4 This is a schematic diagram of a radially partitioned unipolar repulsive Halbach electromagnet array and conductive bridge structure. A is a schematic diagram of the electrical connection terminal group and the top panel of the conductive bridge structure, B is a schematic diagram of the cross-sectional structure of the electromagnet module, C is a schematic diagram of the conductive bridge assembly structure, and D is a schematic diagram of the assembly structure of the inner and outer ring electromagnet arrays. Figure 5 The diagram shows the structure and configuration of the slanted winding. A and B are partial configuration and ring assembly diagrams of the radially slanted slotted conductive flat wire winding, C and D are partial configuration and ring assembly diagrams of the radially slanted conductive coil winding, and E and F are partial configuration and ring assembly diagrams of the axially slanted base conductive flat wire winding. Figure 6 The diagram shows the overall architecture of the two drive paths and control implementation. Path 1 is a structural ring-shaped single-pole phase repulsion phase-connected drive path, and Path 2 is a peak polarity following commutation phase-connected drive path. A is a structural grouped independent excitation control mode, and B is a peak polarity following commutation control mode. Figure 7 The diagram shows the driving path of a structural ring-shaped monopole phase repulsion and phase reversal. A is a schematic diagram of the local magnetic field interaction relationship, B is a schematic diagram of the multi-segment circumferential phase reversal magnetic field structure, C is a schematic diagram of the continuous magnetic field ring structure, D is a schematic diagram of the electromagnet partitioned rotation structure, E is a schematic diagram of the winding partitioned rotation structure, and F is a schematic diagram of the phase reversal state. Figure 8 This is a schematic diagram of the peak polarity follower commutation drive path, where A is a schematic diagram of the local magnetic field relationship, B is a schematic diagram of two ring array structures, and C, D, E, F, and G are schematic diagrams of different relative angular position states. Figure 9 The diagram shows the phase relationship of the partitioned windings and their groups. A is the diagram of the axial partitioned coil windings and their phase relationship, B is the diagram of the outer stator partitioned coil windings and their additional independent control groups, and C is the diagram of the phase relationship of the outer stator partitioned flat wire windings and their groups. Figure 10The diagram shows a pure permanent magnet structure with a fixed inner circumference and a rotating outer side, as well as a three-segment staggered permanent magnet-electromagnetic hybrid axial coupling structure. In the diagram, A is a schematic diagram of the local magnetic field relationship between the inner and outer permanent magnet arrays, B is a schematic diagram of a pure permanent magnet structure with a fixed inner circumference and a rotating outer side, and C and D are schematic diagrams of the first and second axial coupling states of the three-segment staggered permanent magnet-electromagnetic hybrid structure, respectively. Figure 11 This is a schematic diagram of a radial permanent magnet-electromagnetic hybrid drive structure. A and B are schematic diagrams of the local magnetic field relationship and annular assembly structure of the outer electromagnet array and the inner permanent magnet array, respectively. C and D are schematic diagrams of the local magnetic field relationship and annular assembly structure of the inner and outer permanent magnet-electromagnetic hybrid arrays. Figure 12 This is a schematic diagram of the structure of axial monopole repulsion array and axial oblique winding. A and B are schematic diagrams of the structure of axial electromagnet array and axial permanent magnet array, and C and D are schematic diagrams of the structure of axial permanent magnet array and axial connection angle biased conductive flat wire winding. Figure 13 This is a schematic diagram of the structure of radial oblique winding and monopole repulsive permanent magnet array. A and B are schematic diagrams of the structure of radial oblique slotted conductive flat wire winding, and C and D are schematic diagrams of the structure of radial oblique conductive coil winding. Figure 14 This is a schematic diagram of the combination structure of a conventional outer stator winding and a single-pole repulsive permanent magnet array, where A and B are schematic diagrams of the combination structure of conventional conductive flat wire windings, and C and D are schematic diagrams of the combination structure of conventional conductive coil windings. Figure 15 This is a schematic diagram of a combination structure of conventional winding and continuous sloping peak permanent magnet array. A and B are schematic diagrams of the combination structure of conventional conductive flat wire winding and radial continuous sloping peak permanent magnet array. C, D, and E are schematic diagrams of the local combination, ring assembly and different relative position states of conventional conductive coil winding and radial continuous sloping peak permanent magnet array. F and G are schematic diagrams of the combination structure of axially biased conductive flat wire winding and axial continuous sloping peak permanent magnet array. Figure 16 This is a schematic diagram of the structure of a radial oblique winding and a radial continuous oblique peak Halbach permanent magnet array. A and B are schematic diagrams of the structure of a radial oblique slotted conductive flat wire winding unit and a radial continuous oblique peak Halbach permanent magnet array assembly, and C and D are schematic diagrams of the structure of a radial oblique conductive coil winding unit and a radial continuous oblique peak Halbach permanent magnet array assembly. Figure 17The diagram shows the structure of the oblique winding and the traditional permanent magnet rotor. A and B are the structure of the radial oblique slotted conductive flat wire winding unit and the V-shaped embedded permanent magnet rotor array assembly. C and D are the structure of the radial oblique conductive coil winding unit and the surface slotted permanent magnet rotor array assembly. Figure 18 The diagram shows a curved or spherical magnetic levitation attitude control configuration, where A is a schematic diagram of the flat wire winding stator assembly structure, B is a schematic diagram of the electromagnet array stator assembly structure, and C is a schematic diagram of the curved or spherical assembly structure. Figure 19 This is a schematic diagram of a linear repulsive push-pull and geometric coupling configuration, where A is a schematic diagram of local magnetic field coordination and linear push-pull direction, and B is a schematic diagram of linear repulsive push-pull configuration assembly. Figure 20 A schematic diagram of the bilateral axial repulsion differential configuration of a micro-joint; Figure 21 A schematic diagram of the coaxial bidirectional external rotor joint electrical mechanism; Figure 22 A schematic diagram of a radial electric motor with a coaxial rotating self-heating structure; Figure 23 This is a schematic diagram of a double-sided axially repulsive electric mechanism. Figure 24 A schematic diagram of the radial-axial composite magnetic levitation electric mechanism; Figure 25 This is a schematic diagram of the radial hub electrical mechanism. Figure 26 A schematic diagram of the integrated inner rotor structure of a radial-axial composite ducted motor; Figure 27 This is a schematic diagram of an integrated composite duct configuration with internal and external rotors.

[0088] Explanation of reference numerals in the attached figures

[0089] 1. First magnetic unit; 2. Second magnetic unit; 3. Third magnetic unit; 4. Fourth magnetic unit; 5. Non-magnetic array slot support frame; 6. Inner segmented soft magnetic return sheet; 7. First end embedded closed-side attraction auxiliary magnetic unit; 8. Main peak oblique repulsion magnetic unit; 9. Second peak reverse oblique magnetization receiving magnetic unit; 10. Second end embedded closed-side attraction auxiliary magnetic unit; 11. Axial coupling phase-shifting positioning support assembly; 12. Radial unipolar repulsion permanent magnet array assembly; 13. Continuous gradient first oblique peak main magnetic unit; 14. Continuous gradient embedded closed-side transition auxiliary magnetic unit; 15. Continuous gradient second oblique peak receiving magnetic unit; 16. Continuous gradient tail end embedded closed-side auxiliary magnetic unit; 7. Non-Halbach continuous slope gradient permanent magnet array assembly; 18. Common back yoke and slotted support structure; 19. Radial continuous slope peak Halbach permanent magnet array assembly; 20. Electrical connection terminal group, of which 20-1 to 20-8 are the first to eighth electrical connection terminals respectively; 21. Insulating eddy current suppression gasket; 22. Flat strip conductive bridge top panel; 23. N-pole flat strip conductive bridge structure; 24. S-pole flat strip conductive bridge structure; 25. Electromagnet module conductive bridge base panel; 26. Radial partitioned single-pole repulsive Halbach electromagnet array assembly; 27. Repulsive magnetic levitation working gap; 28. Radial oblique slotted conductive flat wire winding unit; 29. ​​Radial oblique conductive coil winding unit. Yuan; 30, Axial inclined base type conductive flat wire winding unit; 31-33, Axial first to third section conventional conductive coil windings, wherein 31-1-31-4, 32-1-32-4 and 33-1-33-4 are the first to fourth section winding units of the corresponding windings; 34-36, Outer stator first to third section conventional conductive coil windings, wherein 34-1-34-5, 35-1-35-5 and 36-1-36-5 are the first to fifth section winding units of the corresponding windings; 37-39, Outer stator first to third section conventional conductive flat wire windings, wherein 37-1-37-6, 38-1-38-6 and 39-1-39-6 are the first to sixth section winding units of the corresponding windings. 40. Inner stator of a three-segment staggered axially coupled monopole repulsive permanent magnet array; 41. Outer rotor of a monopole repulsive permanent magnet array; 42. Axial monopole repulsive Halbach electromagnet array assembly; 43. Axial monopole repulsive Halbach permanent magnet array assembly; 44. Axial connection angle biased conductive flat wire winding unit; 45. Conventional layout conductive flat wire winding module of outer stator; 46. Conventional conductive coil winding module of outer stator; 47. Axial continuous sloping peak Halbach permanent magnet array assembly; 48. V-shaped embedded permanent magnet rotor array assembly; 49. Surface slotted permanent magnet rotor array assembly; 50. Linear configuration stator permanent magnet array assembly; 51. Linear configuration stator connection angle biased conductive flat wire winding unit.52. Linear configuration mover permanent magnet array assembly; 53. Curved configuration flat wire winding stator assembly; 54. Curved configuration permanent magnet array mover assembly; 55. Curved configuration electromagnet array stator assembly; 56. Curved configuration base repulsive permanent magnet disc; 57. Ring structure of first axial permanent magnet array assembly of miniature articulated motor; 58. Ring structure of second axial permanent magnet array assembly of miniature articulated motor; 59. First side drive control circuit board of miniature articulated motor; 60. Second side drive control circuit board of miniature articulated motor; 61. Magnetic field shielding material of miniature articulated motor; 62. Flat wire winding junction box of articulated motor; 63. First direction drive stator winding of articulated motor; 64. Second direction drive stator winding of articulated motor; 65. First direction drive stator winding of articulated motor; 66. Lateral axial outward rotor permanent magnet array group; 67. Second lateral axial outward rotor permanent magnet array group of articulated motor; 68. Bidirectional coaxial outward rotor permanent magnet array ring embedded structure shell of articulated motor; 69. Motor power supply and signal interface assembly; 70. Curved configuration cover plate annular permanent magnet repulsive magnetic sheet; 71. Curved configuration spherical bottom permanent magnet repulsive magnetic sheet; 72. Miniature articulated motor permanent magnet array shell; 73. Miniature articulated shell permanent magnet array group embedded slot; 74. Articulated motor ventilation and heat dissipation end cover, fixed shaft and power control interface assembly; 75. Bearing ball fixing shell; 76. Coaxial rotating heat dissipation blade and rotor fixing sleeve structure; 77. Radial flat wire coil assembly; 78. Annular inner rotor single pole repulsive Halbach permanent magnet array group. 78. Permanent magnet array mounting clip and coaxial rotating cut-in heat dissipation vent frame structure; 79. Axial motor permanent magnet array embedding slot and coaxial rotating air intake heat dissipation shell; 80. Double-sided flat wire mounting base and power control stator structure; 81. First-side axial single-pole repulsive permanent magnet array rotor structure; 82. Second-side axial single-pole repulsive permanent magnet array rotor structure; 83. First-side axial flat wire winding; 84. Second-side axial flat wire winding; 85. Radial-axial composite motor stator heat dissipation end cover and rotor shaft support ball bearing structure; 86. First-side radial-axial composite winding and power control stator structure; 87. Radial-axial double-sided permanent magnet array drive rotor and coaxial rotating cut-in air cooling structure; 88. Second-side radial... —Axial composite winding and power control stator structure; 89. Inner stator electromagnetic actuation ring structure of radial hub motor; 90. Inner stator frame structure of radial hub motor; 91. Outer rotor permanent magnet ring array structure of radial hub motor; 92. Axial electromagnet ring structure of integrated inner rotor structure of radial-axial composite ducted motor; 93. Radial electromagnet ring structure of integrated inner rotor structure of radial-axial composite ducted motor; 94. Integrated inner rotor blade structure of radial-axial composite ducted motor; 95. Outer stator electromagnetic actuation structure of integrated inner and outer rotor composite ducted motor; 96. Outer rotor structure of permanent magnet array of integrated inner and outer rotor composite ducted motor; 97. Linear motor driving the inner stator of permanent magnet array to move axially back and forth;98. A slide rail for linear motor-driven stator movement; 99. An integrated ducted motor blade connecting the inner and outer rotors; 100. A rotating inner monopole repulsive permanent magnet array assembly; 101. A rotating outer monopole repulsive permanent magnet array assembly.

[0090] Explanation of symbols in attached drawings

[0091] In the attached diagram, P is an equivalent position marker used to illustrate the vector relationship between the resultant force F of the oblique magnetic action and its components. It is not used as a physical quantity symbol for the oblique magnetic pressure distribution, nor does it represent the pressure value at a single point. F represents the resultant force of the oblique magnetic action. Fn and Ft represent the signed projections of F in the local normal and local tangential directions, respectively. ω represents the relative angular velocity, and its arrow direction indicates the preset relative rotation direction. ω=0 indicates that the rotating component is in a stopped state. θ represents the relative angular position. θ1 to θ4 represent the magnetization direction angles of the first to fourth magnetic units, respectively. Δθ01 represents the first group of magnetic field units and its relative position. The preset circumferential phase reversal angle between adjacent magnetic field units; Δθn represents the preset circumferential phase reversal angle corresponding to the nth magnetic field unit, and each preset circumferential phase reversal angle is determined according to the same preset phase reference or phase mapping relationship; Δθ01~Δθn represents the preset circumferential phase reversal angle sequence corresponding to the first to nth magnetic field units; Gc,1~Gc,m represents the additional independent control groups set outside the basic balanced excitation group, where m represents the number of additional independent control groups, Gc,j represents the jth additional independent control group, and j is an integer from 1 to m; Fa represents the linear actuation force formed along the reference motion axis, in Figure 10 In the middle, it manifests as axial coupling actuation force, in Figure 19 The force is represented by a linear push-pull force; XX represents the axial centerline or axial movement reference axis; G1~Gn represent physical or virtual grouped magnetic field units, at least one of which is a controllable magnetic field execution unit; X, Y, Z represent spatial coordinate axes; Mxyz represents the combined attitude control torque formed around the X, Y, Z axes; Fi represents the magnetic force of the i-th local action zone, where i is a positive integer. Detailed Implementation

[0092] The specific embodiments of the present invention will be described below with reference to the accompanying drawings. These embodiments illustrate how the technical solution of the present invention is implemented in different magnetic field structures, driving structures, and application configurations. Unless otherwise stated in the embodiments, the terms, symbols, and technical meanings used in this section are consistent with the foregoing description of the invention. The scope of protection of the present invention is defined by the claims.

[0093] I. Principle of Joint Implementation

[0094] All embodiments of this invention share a common technical basis: a magnetic field generating module, a magnetic field response module, and a repulsive magnetic levitation working gap 27 disposed between them. Depending on the specific configuration, corresponding magnetic arrays, windings, electromagnetic actuation structures, and motion structures are provided. In embodiments with a controllable magnetic field actuation unit, one or more physical or virtual grouped magnetic field units G1-Gn, a power drive and conversion unit, a position or phase determination unit, and a control unit are also included. Pure permanent magnet implementations do not require a controllable magnetic field actuation unit, a power drive and conversion unit, or electromagnetic commutation during operation as necessary conditions.

[0095] In embodiments where a position or phase determination unit and a control unit are configured, the position or phase determination unit acquires, determines, or estimates the relative position information between the magnetic field generating module and the magnetic field response module. Based on this relative position information, and at least one of the following: magnetic field detection data, a preset phase table, a preset commutation table, a preset polarity mapping relationship, model prediction results, or lookup table control results, it determines the current effective working window. The control unit selects one or more corresponding physical or virtual grouped magnetic field units based on the current effective working window and controls the controllable magnetic field execution units within them. Virtual grouped magnetic field units are based on at least one of the following: locally addressable electrical connection branches, independently controllable electromagnetic execution sections, or spatial vector controllability. In a pure permanent magnet embodiment, the current effective working window is determined by the relative angular position of the outer monopole repulsive permanent magnet array assembly rotating body relative to the inner monopole repulsive permanent magnet array assembly rotating body, and is not contingent upon the electrical control unit.

[0096] When using solid polarity or composite polarity control of the working surface, the control unit makes the solid polarity or composite polarity of the working surface of the controllable magnetic field actuator corresponding to the current effective working window the same as the local polarity of the opposite working surface, so as to form a same-pole relative relationship. When using equivalent magnetic field vector direction control, the control unit adjusts the corresponding equivalent magnetic field vector direction according to the equivalent magnetic pole phase or preset polarity mapping relationship, so that a normal magnetic action component along the local normal target direction and a tangential magnetic action component along the local tangential target direction are formed within the current effective working window. The determination order of the current effective working window, the judgment rules of local peak polarity and local main polarity, the technical meaning of the preset pole-switching point and the synchronous pole-switching window are subject to the corresponding provisions in the foregoing invention.

[0097] Within the repulsive oblique thrust window, the magnetic field forms an oblique magnetic pressure distribution over the effective area. The area integral of this oblique magnetic pressure distribution over the effective area forms the resultant oblique magnetic force F. The signed projections of F in the local normal and local tangential directions are the normal force component Fn and the tangential force component Ft, respectively. In the attached figure, P is an equivalent position marker for the vector relationship between F, Fn, and Ft, and is not used as a physical quantity symbol for the oblique magnetic pressure distribution, nor does it represent the pressure value at a single point. The determination of the positive directions of the local normal and local tangential, as well as the driving force and damping force, follows the unified rules described in the foregoing invention.

[0098] The structural annular monopole phase repulsion sequential drive path is characterized by different spatial phase repulsion segments sequentially entering the current effective working window and forming a continuous magnetic effect. The peak polarity following phase commutation sequential drive path is characterized by dynamically adjusting the polarity of the working surface entity, the composite polarity, or the direction of the equivalent magnetic field vector according to the relative position. In embodiments with control units and controllable magnetic field execution units, as the relative motion and the current effective working window change, the control unit selects and controls the corresponding controllable magnetic field execution unit according to the current effective working window to maintain, establish, or re-establish the target magnetic field relationship within the current effective working window, thereby causing the phase repulsion oblique thrust window to be formed or re-formed with the relative motion. The pure permanent magnet implementation method uses a preset circumferential phase repulsion relationship and the rotation of the outer monopole phase repulsion permanent magnet array component relative to the inner monopole phase repulsion permanent magnet array component to cause the permanent magnet magnetic field action segments to sequentially enter and leave the current effective working window, thereby implementing the structural annular monopole phase repulsion sequential drive. Each embodiment adopts at least one of the two drive paths according to its magnetic field structure, relative motion form, and operating conditions.

[0099] In embodiments with controllable magnetic field actuators, the structural group-based independent excitation control method selects the corresponding group according to the current effective working window and controls its on / off state and excitation current amplitude; during startup, reversal, or operating condition switching, it can also adjust the energizing phase or current direction. Under the same preset operating direction, this control method does not require the controllable magnetic field actuator to periodically reverse the polarity of the working surface with the relative position as a necessary condition. The peak polarity following commutation control method, based on relative position information and at least one of local peak polarity, local main polarity, equivalent magnetic pole phase, or preset polarity mapping relationship, performs commutation before the preset pole commutation point or within the synchronous pole commutation window and re-establishes the target working surface polarity or the target equivalent magnetic field vector direction.

[0100] When the basic balancing excitation adopts a six-phase or other multi-phase grouping, the system can set one or more additional independent control groups Gc,1 to Gc,m outside the basic balancing excitation grouping, where m is an integer greater than or equal to 1. These additional independent control groups belong to the additional controllable groups in the physical or virtual grouped magnetic field units G1 to Gn, and can provide additional tangential driving force or torque increment within a preset working range. After the preset working range ends, they enter a weak excitation state, a disconnected state, a controlled damping state, or a pulse-type controllable feedback state. Gc,j represents the j-th additional independent control group and is not used as a phase shift angle variable.

[0101] The control unit can also implement zoned energy flow management based on the current effective working window and operating conditions. The feedback energy is generated by electromagnetic conversion of the mechanical energy released during external reverse drag, deceleration, or other relative motion of the rotor or mover, or it originates from other external mechanical energy inputs. Embodiments involving the rotating-side controllable magnetic field actuator can employ conductive slip ring power supply; when using a non-contact rotating power supply method, the fixed-side primary energy coupling unit and the rotating-side secondary energy coupling unit perform inductive energy transfer. The energy output from the rotating-side secondary energy coupling unit is rectified and input to the rotating-side DC bus or local energy storage unit, and then supplied to the corresponding controllable magnetic field actuator by the rotating-side power drive unit. When the non-contact rotating power supply unit has bidirectional energy transfer capability, at least a portion of the feedback energy can be transferred to the fixed-side DC bus or external load.

[0102] II. Specific Structural Examples

[0103] The following Examples 1 to 4 follow the aforementioned common implementation principles and mainly illustrate... Figures 1 to 27 The invention features unique structural components, relative positions of parts, magnetic field interactions, drive paths, control actions, and operating processes. Unless otherwise specified in the embodiments, the current effective working window, physical or virtual grouped magnetic field units G1 to Gn, solid or composite polarity of the working surface, equivalent magnetic field vector direction, two drive paths, two control methods, zoned energy flow management, additional independent control groups, and rotary side power supply methods follow the technical meanings defined in the foregoing invention content and common implementation principles.

[0104] Example 1: Basic magnetic field module and oblique electromagnetic field formation method (combined) Figures 1 to 5 )

[0105] This embodiment illustrates the basic magnetic array, electromagnet array, and oblique winding structure that can be used in magnetic field generating modules, magnetic field response modules, or controllable magnetic field execution units. Figures 1 to 5 The structure shown can be coordinated with the opposite magnetic field structure according to the aforementioned common implementation principle to form the corresponding target magnetic field relationship.

[0106] (a) Radial high-low misaligned monopole repulsive permanent magnet array (combined with) Figure 1 )

[0107] like Figure 1 As shown, the radially misaligned monopole repulsive permanent magnet array includes first to fourth magnetic units 1 to 4, a non-magnetic array slot support frame 5, an inner segmented soft magnetic return sheet 6, a first-end embedded closed-side attraction auxiliary magnetic unit 7, a main peak oblique repulsive magnetic unit 8, a secondary peak reverse oblique magnetization receiving magnetic unit 9, a second-end embedded closed-side attraction auxiliary magnetic unit 10, an axially adjusted misaligned phase positioning support assembly 11, and a radial monopole repulsive permanent magnet array assembly 12. The first to fourth magnetic units 1 to 4 are arranged in a high-low misalignment relationship according to their corresponding magnetization direction angles θ1 to θ4, structural height, circumferential position, and working side shape. The main peak oblique repulsive magnetic unit 8 is positioned facing the working gap 27. The first and second ends are embedded in the closed-side attraction auxiliary magnetic units 7 and 10, which are located in the embedded slots, non-working sides, or opposite closed paths away from the working gap 27. The secondary peak reverse oblique magnetization receiving magnetic unit 9 is located between the main peak oblique repulsive magnetic unit 8 and the corresponding auxiliary magnetic unit, which is used to form a receiving relationship in terms of magnetization direction and magnetic flux distribution. The soft magnetic return sheet 6 is used to provide an auxiliary return path, and the support frame 5 is used to position each magnetic unit.

[0108] Within the current effective working window, the local working surface polarity of the main peak oblique repulsive magnetic unit 8 is the same as the local polarity of the opposite side working surface, thus forming a main action relationship of like poles facing each other; auxiliary magnetic units 7 and 10 mainly participate in the magnetic flux closure on the opposite or embedded side. The term "unipolar repulsion" in this embodiment is used to describe the like poles facing each other in the local working surface within the current effective working window, and does not represent a physical magnetic monopole. Figure 1 A in the diagram represents the basic magnetic unit arrangement. Figure 1 The letter B in the diagram indicates a misaligned and embedded closed structure. Figure 1 C in Figure 1 The numbers D in the diagram represent the inner rotor configuration and the outer rotor configuration, respectively. Multiple radial monopole repulsive permanent magnet array components 12 can be arranged sequentially along the circumference to form a ring-shaped working side. By adjusting θ1 to θ4, the pole pitch, the repulsive magnetic levitation working gap 27, the size of the magnetic unit, and the misalignment, the oblique peak magnetic flux distribution and the direction and amplitude of the oblique magnetic resultant force F on the working side can be adjusted.

[0109] (ii) Non-Halbach continuous slope gradient permanent magnet array (combined with) Figure 2 )

[0110] like Figure 2As shown, the non-Halbach continuous slope gradient permanent magnet array includes a continuous gradient first slope peak main magnetic unit 13, a continuous gradient embedded closed-side transition auxiliary magnetic unit 14, a continuous gradient second slope peak receiving magnetic unit 15, a continuous gradient tail end embedded closed-side auxiliary magnetic unit 16, a non-Halbach continuous slope gradient permanent magnet array assembly 17, and a support frame 5. The magnetic units 13-16 form a slope peak magnetic flux distribution that varies continuously or approximately continuously along the relative motion direction through at least one of the following: structural dimensions, working side profile, magnetization direction, circumferential position, or modular splicing. The first slope peak main magnetic unit 13 and the second slope peak receiving magnetic unit 15 are arranged facing the working gap, and the transition auxiliary magnetic unit 14 and the tail end auxiliary magnetic unit 16 are located on the embedded closed side to form a transition magnetic circuit and an auxiliary closed path.

[0111] This array does not require the constant phase increment progressive magnetization relationship of the classical Halbach array as a necessary condition, but its local peak polarity, local principal polarity or equivalent magnetic pole phase can be identified by the position or phase determination unit. Figure 2 A and B in the diagram represent planar and arc-shaped structures, respectively. Figure 2 C and D in the diagram represent the inner rotor and outer rotor configurations, respectively. This structure can serve as the opposite-side magnetic field structure in a peak polarity follower commutation drive path.

[0112] (III) Radial continuous slope peak Halbach permanent magnet array (combined with) Figure 3 )

[0113] like Figure 3 As shown, the radially continuous sloping peak Halbach permanent magnet array assembly 19 is disposed on the common back yoke and slotted support structure 18, and can cooperate with the axially coupled phase-shifting positioning support assembly 11 to form an inner rotor or outer rotor structure. The first to fourth magnetic units 1 to 4 in the array are arranged according to the preset magnetization direction and Halbach phase progression relationship shown in θ1 to θ4, so that the magnetic flux on the working side is enhanced and a continuous or segmented continuous sloping peak distribution is formed along the relative motion direction. Figure 3 A in the diagram shows a scheme in which the first to fourth magnetic units 1 to 4 are arranged at a 45° angle. Figure 3 B in the diagram shows a scheme in which the first to fourth magnetic units 1-4 are arranged in a horizontal-vertical combination. Both of these arrangement schemes are used to form a continuous slope peak magnetic flux distribution. Figure 3 A and Figure 3 In the diagram, B represents the resultant force of the oblique magnetic action, Fn and Ft represent the signed projections of F in the local normal and local tangential directions, respectively; P is the equivalent position marker of the vector relationship between F, Fn and Ft, and is not used as a physical quantity symbol for the oblique magnetic pressure distribution, nor does it represent the pressure value at a single point. Figure 3 C in Figure 3The numbers D in the diagram indicate the inner rotor configuration and the outer rotor configuration, respectively. A common back yoke and slotted support structure 18 is used to position the magnetic units and provide a return path. This array can be used with slanted windings, conventional partitioned windings, or electromagnet arrays, and primarily employs a peak polarity-following commutation drive path.

[0114] (iv) Radial partitioned monopole repulsive Halbach electromagnet array and conductive bridge (combined) Figure 4 )

[0115] like Figure 4 As shown, the radially partitioned unipolar repulsive Halbach electromagnet array includes an electrical connection terminal group 20, an insulating eddy current suppression pad 21, a flat strip-shaped conductive bridge top panel 22, an N-pole flat strip-shaped conductive bridge structure 23, an S-pole flat strip-shaped conductive bridge structure 24, an electromagnet module conductive bridge base panel 25, and a radially partitioned unipolar repulsive Halbach electromagnet array assembly 26. The electrical connection terminal group 20 is connected to the conductive bridge structures 23 and 24 and the corresponding electromagnet modules, forming a partitioned addressable current conduction path. By changing the energizing direction, amplitude, phase, or on / off state of the corresponding branch, the electromagnet array assembly 26 can form a predetermined working surface solid polarity or composite polarity, or adjust the equivalent magnetic field vector direction to a predetermined direction. The insulating eddy current suppression pad 21 is placed at the location requiring electrical isolation, and the conductive bridge top panel 22 and base panel 25 are used for connection, positioning, and heat conduction. Figure 4 A in the diagram shows the electrical connection terminal group 20 and the top panel 22 of the flat strip conductive bridge. Figure 4 B in Figure 4 The C in the diagram represents the electromagnet module and the conductive bridge assembly, respectively. Figure 4 D in the figure shows the assembly structure of the inner and outer ring radially partitioned monopole repulsive Halbach electromagnet array 26, which are arranged opposite each other through the repulsive magnetic levitation working gap 27.

[0116] Figure 4 Both the inner and outer sides of D in the figure can use electromagnet arrays; in another embodiment not shown in the figure, an electromagnet array can also be used on one side and a permanent magnet array on the opposite side. When at least one side of the electromagnet array is provided on the rotating side, that side can be powered by a conductive slip ring, or by the aforementioned non-contact rotary power supply method. The non-contact rotary power supply unit and its connection relationship are described in... Figure 4 Not shown separately, the non-contact rotary power supply unit can be an optional component of the rotary side power supply and local power management subsystem.

[0117] (v) Oblique winding structure and its coordination state (combined with) Figure 5 )

[0118] like Figure 5As shown, the oblique winding includes a radially oblique slotted conductive flat wire winding unit 28, a radially oblique conductive coil winding unit 29, and an axially oblique base-type conductive flat wire winding unit 30. Each winding can be mounted on a common back yoke and slotted support structure 18. The slot direction, coil orientation, base direction, or connection angle of the winding are offset relative to the local normal, so that when energized, it forms an equivalent magnetic field with a target normal component and a target tangential component.

[0119] Figure 5 The upper and lower local states shown in A in the figure illustrate how the radial oblique slotted conductive flat wire winding unit 28 adapts to the structural annular single-pole phase repulsion phase connection drive path and the peak polarity following phase commutation drive path under different energization and polarity organization conditions. Figure 5 B in the diagram indicates the corresponding annular assembly. The radially inclined conductive coil winding unit 29 can also select one of the two drive paths mentioned above based on the group connection and control method. Figure 5 C and D in the figure show its local fit and ring assembly state. Figure 5 E and F in the figure show a partial structure and annular assembly of the axially inclined base type conductive flat wire winding unit 30, in which Figure 5 The magnetic field states shown in D and F are mainly used to illustrate peak polarity following commutation drive. When each winding unit has independent branches, winding taps, power supply ports, or space vector controllability, it can form physical or virtual grouped magnetic field units, and the power drive and conversion unit implements group control according to the current effective working window.

[0120] Example 2: Two drive paths and their control implementation (combined) Figures 6 to 9 )

[0121] This embodiment illustrates the structural annular single-pole phase repulsion and phase-separation drive path and the peak polarity following commutation drive path, as well as the corresponding structural grouped independent excitation control method and peak polarity following commutation control method. The two paths describe the continuity mechanism of the magnetic field action, and the two control methods describe the control basis and actions of the controllable magnetic field actuator; the two can be implemented separately or in combination in different sections and under different operating conditions of the same system.

[0122] (I) Driving path and control architecture (combined with) Figure 6 )

[0123] like Figure 6As shown, the position or phase determination unit determines the current effective working window based on the relative position information. The control unit selects the corresponding controllable magnetic field execution unit from G1 to Gn accordingly, and controls its excitation state through one or more power drive and conversion units corresponding to G1 to Gn respectively. The DC bus (DC BUS) and bus capacitor (Cdc) provide power to the power drive and conversion units, and can receive feedback power according to the aforementioned partitioned energy flow management method.

[0124] Path 1 is a structural annular unipolar phase-repulsive phase-shifting continuous drive path. This path relies on multiple circumferential phase-shifting segments, partitions, or magnetic field action segments in the annular magnetic field structure to form a preset circumferential phase-shifting relationship along the relative motion direction of the annular structure, and then sequentially enter the current effective working window, so that the phase-repulsive oblique thrust is continuously formed along the motion direction. The corresponding structural group independent excitation control mode mainly selects the group currently participating in the action and controls its on / off state and excitation amplitude; under the same preset running direction, the periodic reversal of the working surface polarity of each group with its relative position is not a necessary condition.

[0125] Path 2 is a peak polarity-following commutation drive path. Based on relative position information, local peak polarity, local dominant polarity, equivalent magnetic pole phase, or a preset polarity mapping relationship, this path changes the energizing phase, current direction, amplitude, or on / off state of the corresponding group before the preset commutation point or within the synchronous commutation window. This ensures that the solid polarity, composite polarity, or equivalent magnetic field vector direction of the working surface after commutation once again satisfy the target magnetic field relationship. The corresponding peak polarity-following commutation control can employ overall synchronous commutation, segmented synchronous commutation, or zoned independent commutation.

[0126] Figure 6 The P, F, Fn, and Ft shown on the left are subject to the aforementioned unified physical meaning. Figure 6 A and B in the system can be implemented separately, or they can be implemented collaboratively in different groups, different working areas, or different operating conditions within the same system.

[0127] (II) Structural ring-shaped unipolar phase repulsion phase connection drive (combined with) Figure 7 )

[0128] Figure 7 The A in the diagram illustrates the principal repulsion relationship between the like poles of the relative magnetic fields, the auxiliary magnetic flux relationship, and the oblique direction of action in a simplified form. The arrows are used to explain the directional organization in the local state shown and do not represent actual force values ​​obtained without calculation or measurement. Figure 7 B in the diagram shows a multi-segment circumferential phase-shifted magnetic field structure with θ = 0°, 20°, 40°, and 60°. Figure 7 C in the figure represents a continuous magnetic field ring structure, which can be a non-Halbach continuous slope gradient permanent magnet array assembly 17, other continuous magnetic field structures, or magnetic field structures with equivalent spatial phase misalignment relationships. Figure 7 D in Figure 7 The letters E in the diagram represent the electromagnet partitioned rotation actuation structure and the winding group partitioned rotation actuation structure, respectively. Figure 7 F in the figure indicates the sequential state of the phase-shifting segments entering the working window as the relative motion progresses.

[0129] In this driving path, as the first phase-shifting segment gradually leaves the preset high-action zone, the subsequent phase-shifting segment enters the corresponding working zone, thereby maintaining the tangential action component in the target direction. Figure 7 The controllable execution structure shown in Figures D and E allows the control unit to select the appropriate group based on the current effective working window and adjust the excitation amplitude or on / off state. Under the same preset operating direction, periodic reversal of the current direction is not required as a necessary condition for continuous drive. During startup, reversal, or operating condition switching, the control unit can still adjust the energizing phase or current direction. Figure 7 D or Figure 7 When the controllable magnetic field actuator of E is mounted on the rotating component, a conductive slip ring or the aforementioned non-contact rotary power supply method can be used. The choice of power supply method does not change the phase-shifting connection mechanism of the structure shown in this figure.

[0130] (III) Peak polarity follower commutation connection drive (combined with) Figure 8 )

[0131] Figure 8 A in the diagram illustrates the spatial organization of local repulsion and attraction between the continuous sloping peak array and the controllable magnetic field actuator; Figure 8 B in the diagram illustrates two ring structures: a radially staggered monopole repulsive permanent magnet array and a radially continuous sloping peak Halbach permanent magnet array. The control unit arranges the excitation and commutation of each group according to their relative positions and local polarity relationships, so that the main tangential magnetic components within the currently effective working window are organized according to the target direction. Figure 8 The direction arrows in the diagram are only used to illustrate the local direction of action under the current effective working window and discrete angular position shown. They do not represent the actual force value obtained without calculation or measurement, nor do they prove the absence of a negative tangential component within a complete mechanical or electrical cycle.

[0132] Figure 8 C through G in the diagram represent relative angular positions of 5°, 15°, 25°, 30°, and 45°, respectively. These angles are example positions for the illustrated structure and do not limit the commutation angles for other pole pitches, group numbers, or structural dimensions. The control unit can map these relative positions to drive, transition, commutation preparation, commutation, or post-commutation recovery states using a preset commutation table, polarity mapping table, or online position estimation.

[0133] When it is predicted that the corresponding group will no longer satisfy the target working surface polarity or the target equivalent magnetic field vector direction after continued movement, the control unit performs current reduction, current freewheeling, zero vector, weak excitation, or disconnection on the group before the preset pole-switching point or within the synchronous pole-switching window, and adjusts the energizing phase, current direction, or amplitude. After commutation is completed, the group is then put into the drive or compensation state corresponding to the new current effective working window. The energy dissipation state, bus clamping state, controlled damping state, and pulse-type controllable feedback state are only used when the corresponding circuit and operating conditions are met.

[0134] (iv) Zoned windings and additional independent control groups (in combination) Figure 9 )

[0135] like Figure 9 As shown, the zoned windings include conventional conductive coil windings 31-33 for the first to third axial zones, conventional conductive coil windings 34-36 for the first to third outer stator zones, and conventional conductive flat wire windings 37-39 for the first to third outer stator zones. When each zone has an independent branch, tap, or power interface, it can be independently controlled by the corresponding power drive and conversion unit. Figure 9 A in the diagram shows the axial zone coil windings and phase relationship. Each zone can implement independent excitation of the structural group, or it can be combined with peak polarity following commutation control when the corresponding group has commutation capability. Figure 9 The outer stator partitioned coil winding shown in B can form a ring-shaped unipolar repulsive grouped drive structure; its power interface supports adjustment of the energized phase or current direction and can also be used for peak polarity following commutation. Figure 9 In this embodiment, the partitioned flat wire winding shown in C mainly serves as an addressable commutation execution structure, implementing peak polarity following commutation according to local polarity or equivalent magnetic pole phase.

[0136] Δθ01 represents the preset circumferential phase misalignment angle between the first group magnetic field unit and its adjacent group magnetic field units; Δθn represents the preset circumferential phase misalignment angle corresponding to the nth group magnetic field unit. Each preset circumferential phase misalignment angle is determined according to the same preset phase reference or phase mapping relationship. Figure 9 In the diagram, Δθn and Gc,j represent the angle parameter and the j-th additional independent control group, respectively. Figure 9 In the diagram, Δθ01 to Δθn, represented by C, indicate the preset circumferential phase shift sequence corresponding to the first to nth magnetic field units. These angle symbols and control group identifiers are parallel technical information and do not imply mathematical operations between them. Gc,j represents the j-th additional independent control group and does not represent an angle or phase variable. The additional independent control group can provide additional drive or compensation within a preset operating range and enters a weak excitation state, a disconnected state, a controlled damping state, or a pulse-type controllable feedback state after leaving this operating range.

[0137] Example 3: Axial coupling, permanent magnet-electromagnetic hybrid and winding rotor compatible structure (combined with...) Figures 10 to 17 )

[0138] This embodiment illustrates the combined application of two drive paths in axial coupling, permanent magnet-electromagnetic hybrid, axial and radial winding structures, and traditional permanent magnet rotors. The specific path used in each structure is based on the local polarity distribution of the magnetic field on the opposite side, whether the actuator requires periodic commutation, and its power connection capability.

[0139] (I) A pure permanent magnet structure with a fixed inner circumferential direction and a rotating outer direction, and a three-segment staggered phase permanent magnet-electromagnetic hybrid axial coupling structure (combined with) Figure 10 )

[0140] like Figure 10 As shown, Figure 10 A in the figure shows the local relationship between the inner and outer permanent magnet arrays, which are separated by a repulsive magnetic levitation working gap 27, forming a relative oblique magnetic interaction between the same poles; Figure 10 B in the diagram shows a pure permanent magnet structure with the inner circumferential side fixed and the outer side rotating. Figure 10 C and D in the figure show a three-segment staggered permanent magnet-electromagnetic hybrid axial coupling structure.

[0141] Figure 10 The pure permanent magnet structure shown in Figure B includes an inner monopole repulsive permanent magnet array assembly rotating body 100 and an outer monopole repulsive permanent magnet array assembly rotating body 101, coaxially arranged, and a repulsive magnetic levitation working gap 27 located between their opposing working surfaces. Both include a ring-shaped permanent magnet magnetic field structure formed by non-energized permanent magnet modules. The inner monopole repulsive permanent magnet array assembly rotating body, as referred to in this specification, means a ring-shaped permanent magnet rotating body configuration component arranged around a common axis, which... Figure 10 In the embodiment shown in B, the circumferential position is kept fixed, but axial position adjustment along the common axis is not excluded.

[0142] The inner monopole repulsive permanent magnet array assembly rotating body remains fixed in a circumferential position around a common axis, while the outer monopole repulsive permanent magnet array assembly rotating body is able to rotate around the common axis. Figure 10The arc-shaped arrow shown as B indicates the rotation direction of the outer monopole repulsive permanent magnet array assembly. The outer monopole repulsive permanent magnet array assembly includes multiple permanent magnet magnetic field segments arranged according to a preset circumferential phase misalignment, forming a sloping peak magnetic flux distribution spatially offset along the circumferential relative motion direction on the working side. The local spatial region or circumferential phase interval corresponding to the current relative angular position of the outer monopole repulsive permanent magnet array assembly relative to the inner monopole repulsive permanent magnet array assembly is the current effective working window. Within the current effective working window, the local polarities of their relative working surfaces are the same, forming an oblique magnetic effect with local normal magnetic action components and local tangential magnetic action components. During rotation, the permanent magnet magnetic field segments sequentially enter and leave the current effective working window, causing the local same-pole relative relationship and the repulsive oblique thrust window to be continuously formed or reformed along the circumferential direction, generating a magnetic torque around a common axis. This embodiment belongs to the pure permanent magnet implementation of the structural annular monopole phase repulsion staggered phase connection drive path defined in this specification, and does not constitute a third drive path independent of the aforementioned two drive paths. In one axial position adjustment embodiment, the inner monopole phase repulsion permanent magnet array assembly rotator, while maintaining a fixed circumferential position, can move along a common axis under the action of axial adjustment actuation force Fa, so as to adjust at least one of the following: axial insertion depth, effective overlap length, effective effective area, or number of permanent magnet magnetic field segments participating in the magnetic effect.

[0143] Figure 10 The three-segment staggered permanent magnet-electromagnetic hybrid axial coupling structure shown in C and D includes an axially coupled staggered positioning support assembly 11, a radially partitioned unipolar repulsive Halbach electromagnet array assembly 26, an inner stator 40 of the three-segment staggered axially coupled unipolar repulsive permanent magnet array group, and an outer rotor 41 of the unipolar repulsive permanent magnet array group.

[0144] The inner stator 40 includes three circumferentially phase-reversed segments arranged along the axial direction. One of these segments is a controllable electromagnetic actuation segment formed by a radially partitioned monopole repulsive Halbach electromagnet array assembly 26, and the other two are permanent magnet phase-reversed segments. The controllable electromagnetic actuation segment adopts peak polarity following commutation connection drive, and the permanent magnet phase-reversed segments and the outer rotor 41 adopt a structural annular monopole repulsive phase-reversed connection drive. Figure 10 The C in the figure indicates that the outer rotor 41 has stopped rotating and the inner stator 40 is in the first axial coupling position; Figure 10 D in the figure indicates that the inner stator 40 moves to the second axial coupling position under the action of the axial coupling actuation force Fa. The axial coupling phase misalignment positioning support assembly 11 adjusts at least one of the following by changing the axial position of the inner stator 40 relative to the outer rotor 41: axial insertion depth, effective overlap length, effective working area, or number of phase misalignment segments involved in the action.

[0145] (II) Radial permanent magnet-electromagnetic hybrid drive structure (combined with) Figure 11 )

[0146] Figure 11 Figures A and B illustrate the partial fit and annular assembly of the outer radially partitioned monopole repulsive Halbach electromagnet array assembly 26 and the inner radially repulsive permanent magnet array assembly 12. Within the operating range where the same pole relationship is maintained on the opposite working sides, the electromagnet array assembly 26 mainly forms a structural annular monopole repulsive phase-separated drive through group selection and excitation amplitude adjustment.

[0147] Figure 11 C and D in the diagram illustrate a hybrid structure containing permanent magnet units and electromagnetic actuators on both the inner and outer sides. The stator-side electromagnetic actuators can be energized as a whole or in sections, while the rotor-side electromagnetic actuators can implement structurally grouped independent excitation control. When local polarity needs to be rebuilt due to changes in relative position, the corresponding group adopts peak polarity following commutation. The controllable magnetic field actuator located on the rotating side can be powered by conductive slip rings. When using the aforementioned non-contact rotary power supply method, a local energy storage unit can be configured, and this local energy storage unit provides short-time pulse power when the current effective operating window enters the preset peak operating region.

[0148] (III) Axial monopole repulsive array and axial winding (combined) Figure 12 )

[0149] like Figure 12 As shown, Figure 12 The axial monopole repulsive Halbach electromagnet array assembly 42 and the axial monopole repulsive Halbach permanent magnet array assembly 43, shown in A and B respectively, are arranged opposite each other through a repulsive magnetic levitation working gap 27. When each circumferential phase-shifting region participates in the action in sequence, a structural annular monopole repulsive phase-shifting sequential drive can be adopted, and the axial support and tangential action can be adjusted by the excitation amplitude and on / off state of the electromagnet partitions.

[0150] Figure 12 C in Figure 12 The axially biased conductive flat wire winding unit 44, shown as D, is positioned opposite to the axially unipolar repulsive Halbach permanent magnet array assembly 43. The axially biased conductive flat wire winding unit 44 performs commutation according to its relative position, local peak polarity, or equivalent magnetic pole phase, forming a peak polarity-following commutation continuous drive. The biased connection angle ensures that the equivalent magnetic field generated by the winding has both target axial and tangential components.

[0151] (iv) Radial oblique winding and monopole repulsive permanent magnet array (combined) Figure 13 )

[0152] Figure 13A and B in the figure show the partial cooperation and ring assembly between the radial oblique slotted conductive flat wire winding unit 28 and the radial monopole repulsive permanent magnet array assembly 12. Figure 13 C and D in the diagram show the corresponding structure of the radially inclined conductive coil winding unit 29. Figure 13 The magnetic field distributions shown in A and C are used to illustrate the interaction between the oblique equivalent magnetic field generated by the winding and the local working surface of the permanent magnet array. They do not indicate that the two driving paths must necessarily be implemented simultaneously in the same local state shown in the figure.

[0153] When each winding group maintains the preset working surface solid polarity or composite polarity in the same operating direction and sequentially changes the excitation amplitude or on / off state, a structural ring-shaped single-pole phase repulsion staggered phase connection drive is adopted; when each group adjusts the energizing phase or current direction according to its relative position, a peak polarity following phase commutation connection drive is adopted. Therefore, the same winding structure can select two paths according to its partition connection and control configuration.

[0154] (v) Conventional external stator windings and monopole repulsive permanent magnet array (combined) Figure 14 )

[0155] Figure 14 A and B in the figure show the partial cooperation and annular assembly of the outer stator conventional layout conductive flat wire winding module 45 and the radial monopole repulsive permanent magnet array assembly 12; Figure 14 C and D in the diagram show the corresponding structure of the conventional conductive coil winding module 46 of the outer stator. The conventional winding forms the target working surface polarity or the target equivalent magnetic field vector direction within the current effective working window through partitioned connection and energization control. Figure 14 The local magnetic field relationship shown in A and C only illustrates one possible coordination state and does not imply that the two driving paths must necessarily be implemented simultaneously in this state.

[0156] When using a fixed working surface with the same polarity and group amplitude control, this structure implements a structural ring-shaped single-polarity phase repulsion phase-sequential drive; when changing the group energizing phase or current direction according to local polarity or phase mapping relationship, this structure implements a peak polarity following phase-sequential drive. This allows for integration into the control system of this invention while retaining the foundation of conventional flat wire or coil manufacturing.

[0157] (vi) Conventional windings and continuous sloping peak permanent magnet array (combined) Figure 15 )

[0158] Figure 15 A and B in the diagram show the partial fit and annular assembly of the conventional layout conductive flat wire winding module 45 of the outer stator and the radial continuous sloping peak Halbach permanent magnet array assembly 19. Figure 15 C and D in the diagram show the partial fit and annular assembly between the outer stator conventional conductive coil winding module 46 and the array assembly 19. Figure 15 The 'E' in the diagram indicates another relative position or commutation state; Figure 15 F and G in the diagram indicate the connection between the axially biased conductive flat wire winding unit 44 and the axially continuous sloping peak Halbach permanent magnet array assembly 47. Since the local dominant polarity or equivalent magnetic pole phase of the continuous sloping peak array changes with relative position, the above structures primarily employ peak polarity following commutation drive. The control unit selects the appropriate winding group based on the relative position information and changes the energizing phase, current direction, amplitude, or on / off state within the synchronous commutation window to maintain the target tangential action direction.

[0159] (vii) Radial oblique winding and radial continuous sloping peak Halbach permanent magnet array (combined) Figure 16 )

[0160] Figure 16 A and B in the diagram illustrate the combination of the radially inclined slotted conductive flat wire winding unit 28 and the radially continuous inclined peak Halbach permanent magnet array assembly 19. Figure 16 C and D in the diagram illustrate the interaction between the radially slanted conductive coil winding unit 29 and the array assembly 19. The spatial bias of the slanted winding and the equivalent magnetic pole phase of the continuous slanted peak array together determine the current effective operating window. In this embodiment, Figure 16 Both structures shown employ peak polarity-following commutation drive. The control unit controls the corresponding winding group commutation based on the local peak polarity, equivalent magnetic pole phase, or preset polarity mapping relationship, ensuring that the combined tangential component maintains the target direction.

[0161] (viii) Oblique winding and traditional permanent magnet rotor (combined) Figure 17 )

[0162] Figure 17 A and B in the diagram show the cooperation between the radial oblique slotted conductive flat wire winding unit 28 and the V-shaped embedded permanent magnet rotor array assembly 48. Figure 17 C and D in the diagram illustrate the interaction between the radially inclined conductive coil winding unit 29 and the surface-grooved permanent magnet rotor array assembly 49. When the current relative local working surfaces of a conventional permanent magnet rotor are organized according to the same local polarity, and the inclined winding groups do not require periodic reversal of the working surface polarity in the same running direction, a structural annular single-pole phase repulsion sequential drive can be adopted. When the local polarity or equivalent magnetic pole phase of the conventional rotor alternates with the relative position, the inclined windings implement peak polarity following commutation according to a preset mapping relationship. The selection of the two paths is jointly determined by the rotor magnetic pole arrangement, winding group zoning connection, and commutation requirements. The local same-pole relative relationship refers only to the local polarity relationship of the relative working surfaces within the current effective working window, and does not indicate that all magnetic units of the V-shaped embedded permanent magnet rotor array assembly 48 or the surface-grooved permanent magnet rotor array assembly 49 have the same magnetic pole.

[0163] Example 4: Multi-configuration assembly and composite application (combined) Figures 18 to 27 )

[0164] This embodiment illustrates the application of the aforementioned magnetic field structure, two drive paths, and zoned control in curved, linear, jointed, radial, axial, hub, and ducted configurations. The following application configurations do not constitute new drive paths or control categories.

[0165] (a) Curved or spherical magnetic levitation attitude control configuration (combined with) Figure 18 )

[0166] Figure 18 A in the figure shows the fit between the curved flat wire winding stator assembly 53 and the curved permanent magnet array mover assembly 54, the curved base repulsive permanent magnet disc 56, and the attitude control torque Mxyz; Figure 18 B in the figure shows the cooperation relationship between the curved surface configuration electromagnet array stator assembly 55 and the mover assembly 54 and the local magnetic force Fi; Figure 18 Figure C illustrates the assembly relationship between the curved surface cover plate annular permanent magnet repulsive magnetic sheet 69, the mover assembly 54, the curved surface sphere bottom permanent magnet repulsive magnetic sheet 70, the curved surface electromagnet array stator assembly 55, and the motor power supply and signal interface assembly 68. The curved surface base repulsive permanent magnet disc 56 is used to form the bottom support or reset magnetic field. The control unit adjusts the excitation amplitude, direction, or on / off state of different curved surface zones to create differences in the local magnetic forces Fi, which are then synthesized into attitude control torques Mxyz around the X, Y, and Z directions. The local normal component is used for support or limitation, while the local tangential component is used for pitch, yaw, roll, hold, or reset. This configuration employs differential repulsive force control under structural grouped independent excitation; when the relative magnetic fields have a continuous sloping peak phase relationship, peak polarity following commutation can also be superimposed.

[0167] (II) Linear repulsive push-pull and geometrically coupled configurations (combined) Figure 19 )

[0168] Figure 19 A in the figure shows the local coordination relationship between the linear configuration stator permanent magnet array group 50, the linear configuration stator terminal angle bias conductive flat wire winding unit 51, and the linear configuration mover permanent magnet array group 52. The X-axis represents the linear movement reference axis, and Fa represents the linear push-pull force acting on the linear configuration mover permanent magnet array group 52 along the linear movement reference axis. Its specific direction is determined according to the propulsion or retraction control target. Figure 19Figure B illustrates the overall assembly relationship between the aforementioned linear magnetic field structure and the motor power supply and signal interface assembly 68. The linear configuration stator terminal angle biased conductive flat wire winding unit 51 generates a controllable magnetic field with a linear tangential component, used to drive the mover to move along the X-axis. The control unit adjusts the excitation state of different linear zones to achieve propulsion, retraction, holding, or damping. As the mover moves, its effective overlap length, effective coupling area, and effective magnetic field area change with its position, thus forming geometric coupling. When using zoned amplitude and on / off control, structural grouped independent excitation is implemented; when using commutation based on local polarity or phase, peak polarity following commutation is implemented.

[0169] (III) Bilateral Axial Repulsion Differential Configuration of Micro-Joints (Combined) Figure 20 )

[0170] like Figure 20 As shown, the annular structure 57 of the first axial permanent magnet array group and the annular structure 58 of the second axial permanent magnet array group of the micro-joint motor are respectively disposed on both sides of the micro-joint. The drive control circuit board 59 of the first side and the drive control circuit board 60 of the second side of the micro-joint motor are connected to the controllable magnetic field execution branch of the corresponding side. The magnetic field shielding material 61 of the micro-joint motor is disposed at the position where the coupling of non-target magnetic fields needs to be reduced. The permanent magnet array shell 71 of the micro-joint motor and the embedded groove 72 of the permanent magnet array group of the micro-joint shell are used for the installation and limiting of the magnetic array. The drive control circuit boards 59 and 60 are used to control the windings or electromagnetic execution branches of the corresponding side, and do not energize the permanent magnet array itself. The control unit adjusts the controllable magnetic field execution branches on both sides to form a difference in the axial repulsion between the two sides, thereby generating swing, angle holding, reset or controlled damping torque. This configuration adopts differential control of repulsion force under structural group independent excitation.

[0171] (iv) Coaxial bidirectional external rotor joint electric mechanism type (combined) Figure 21 )

[0172] like Figure 21As shown, the first-direction drive stator winding 63 and the second-direction drive stator winding 64 of the joint motor respectively cooperate with the first-side axial external rotor permanent magnet array group 65 and the second-side axial external rotor permanent magnet array group 66 of the joint motor. The external rotor permanent magnet array group is installed in the bidirectional coaxial external rotor permanent magnet array ring embedded structure housing 67 of the joint motor. The flat wire winding junction box 62, the motor power supply and signal interface assembly 68, and the joint motor ventilation and heat dissipation end cover, fixed shaft and power control interface assembly 73 are used for winding wiring, power supply control, support and heat dissipation. The control unit adjusts the excitation state of the two sets of stator windings 63 and 64 to form a difference in the tangential action on both sides, thereby outputting the joint torque in the first direction or the second direction; when the action on both sides tends to be balanced, a holding or damping state can be formed. This configuration adopts coaxial double-sided repulsive force differential control.

[0173] (v) Radial electric motor configuration with coaxial rotating self-heating structure (combined) Figure 22 )

[0174] like Figure 22 As shown, the radial flat wire coil assembly 76 is positioned opposite to the annular inner rotor unipolar repulsive Halbach permanent magnet array 77. The bearing ball retaining housing 74 provides support and positioning. The coaxial rotating heat dissipation blades and rotor retaining sleeve structure 75 secures the rotor and forms a rotating airflow guide. The permanent magnet array mounting clip and coaxial rotating cutting-in heat dissipation vent frame structure 78 mounts the array and directs airflow towards the coil assembly 76 and the vicinity of the working gap. The motor power supply and signal interface assembly 68 connects to the stator-side power and control circuits. This configuration allows for a structural annular unipolar repulsive phase-shifting drive; when the permanent magnet array 77 is configured with a continuous sloping peak phase structure and the coil assembly 76 performs corresponding commutation, peak polarity following commutation can be used. The airflow generated by the rotor rotation carries away heat from the windings, support structure, and the vicinity of the working area.

[0175] (vi) Double-sided axially repulsive electric mechanism (combined) Figure 23 )

[0176] like Figure 23As shown, a first-side axial flat wire winding 83 and a second-side axial flat wire winding 84 are respectively arranged on both sides of the double-sided flat wire mounting base and power control stator structure 80, and are respectively opposite to the first-side axial single-pole repulsive permanent magnet array rotor structure 81 and the second-side axial single-pole repulsive permanent magnet array rotor structure 82. The axial motor permanent magnet array embedding slots on both sides and the coaxial rotating air intake heat dissipation shell 79 are used to install the rotor array and form a rotating air intake path. The motor power supply and signal interface assembly 68 is used to connect the power and control circuits. The control unit adjusts the first-side axial flat wire winding 83 and the second-side axial flat wire winding 84 respectively to achieve synchronous drive, differential compensation, position holding, braking, or controlled damping states on both sides. The double-sided normal action can be used for axial load reduction and working clearance adjustment, while the tangential action is used for torque output; the differential adjustment on both sides helps to suppress axial movement or off-center load. The aforementioned actions do not exclude the bearings or other mechanical supports sharing the load.

[0177] (vii) Radial-axial composite magnetic levitation electric mechanism (combined) Figure 24 )

[0178] like Figure 24 As shown, the first and second radial-axial composite windings and power control stator structures 86 and 88 are respectively disposed on both sides of the radial-axial double-sided permanent magnet array drive rotor and the coaxial rotating cut-in air cooling structure 87. The stator heat dissipation end cover and rotor shaft support ball bearing structure 85 is used for support, positioning and forming heat dissipation boundaries. The motor power supply and signal interface assembly 68 is used to connect power and control circuits. The radial magnetic field execution area is used for radial load reduction, centering and tangential torque control, while the axial magnetic field execution area is used for axial load reduction, compensation and bilateral stabilization. The control unit implements independent or coordinated excitation for different radial, axial and lateral zones to compensate for radial offset, axial movement, tilting or load disturbance. The rotating airflow formed by the rotor structure 87 is used to cool adjacent stators and working areas; the ball bearing structure 85 can share the load with the magnetic support.

[0179] (viii) Radial hub electrical mechanism configuration (combined) Figure 25 )

[0180] like Figure 25As shown, the inner stator electromagnetic actuation ring structure 89 of the radial hub motor is mounted on the inner stator frame structure 90 of the radial hub motor and is positioned opposite to the outer rotor permanent magnet ring array structure 91 of the radial hub motor across a radial working gap. The electromagnetic actuation ring structure 89 includes windings or electromagnetic actuation branches that can be controlled in sections. The control unit selects the corresponding section according to the relative position of the hubs and enters the drive state, compensation state, weak excitation state, disconnection state, controlled damping state, or pulse-type controllable feedback state. When the outer rotor permanent magnet ring array structure 91 adopts a circumferentially phase-shifted same-pole working side structure, it can implement structural ring-shaped single-pole phase repulsion phase-shifting continuous drive; when it adopts a continuous sloping peak polarity structure, it can implement peak polarity following commutation.

[0181] (ix) Integrated inner rotor structure of radial-axial composite ducted motor (combined with) Figure 26 )

[0182] like Figure 26 As shown, the axial electromagnet ring structure 92 and the radial electromagnet ring structure 93 of the integrated inner rotor structure of the radial-axial composite ducted motor are coaxially arranged on the integrated inner rotor. The blade structure 94 of the integrated inner rotor of the radial-axial composite ducted motor is connected to the corresponding ring structure and forms a ducted airflow channel. The axial electromagnet ring structure 92 is used for axial action and compensation, the radial electromagnet ring structure 93 is used for radial action, centering or torque control, and the inner rotor blade structure 94 is used for propulsion, airflow guidance and cooling. The control unit can independently or collaboratively excite the axial and radial zones to adapt to start-up, acceleration, stable operation, compensation or braking conditions. When the axial electromagnet ring structure 92 or the radial electromagnet ring structure 93 rotates with the inner rotor, it can be powered by a conductive slip ring; when using the aforementioned non-contact rotational power supply method, a local energy storage unit and a rotating side power drive unit can be configured, and the local energy storage unit can provide short-term boost power during the current effective working window.

[0183] (x) Integrated duct configuration of inner and outer rotors (combined with) Figure 27 )

[0184] like Figure 27As shown, the integrated ducted motor configuration includes an inner stator 40 of a three-segment stator with axially coupled single-pole repulsive permanent magnet array, an outer rotor 41 of the same array, an electromagnetic actuation structure 95 for the outer stator of the integrated ducted motor, an outer rotor structure 96 for the permanent magnet array of the integrated ducted motor, one or more linear motors 97 driving the inner stator of the permanent magnet array to move axially back and forth, slide rails 98 corresponding to the linear motors 97 driving the stator movement, and integrated ducted motor blades 99 connecting the inner and outer rotors. One or more linear motors 97 drive the inner stator 40 to move axially along their respective slide rails 98, causing the inner stator 40 to enter or exit the magnetic field region of the outer rotor 41, thereby changing the effective overlap length, effective coupling area, and the number of stator segments involved in the interaction; the outer rotor 41 maintains axial positioning during the coupling process. The electromagnetic actuation structure 95 of the outer stator of the integrated composite ducted motor with the permanent magnet array outer rotor structure 96 of the integrated composite ducted motor with the inner and outer rotors form an outer controllable drive path. The inner stator 40 and the outer rotor 41 form an inner axially coupled staggered phase connection path. The integrated ducted motor blade 99 connecting the inner and outer rotors connects to the corresponding rotating structure and forms a propulsion, airflow guiding and heat dissipation channel.

[0185] During startup or at low speed, the inner stator 40 can be in a position with a small overlap, and the outer electromagnetic actuator 95 provides startup or compensation. After entering the stable operating region, the linear motor 97 increases the overlap between the inner stator 40 and the outer rotor 41, so that the inner phase-shifting action and the outer controllable drive work together for output. The control unit can coordinate the outer excitation and inner geometric coupling according to the speed, load, axial position and bus condition, and control the corresponding controllable magnetic field actuator to enter the controlled damping state or pulse-type controllable feedback state when the energy flow conditions are met, or control the corresponding energy dissipation unit or bus clamping unit to enter the energy dissipation state or bus clamping state.

Claims

1. A magnetoelectric dynamic system with opposite poles and oblique peak thrust, characterized in that, The system includes a magnetic field generating module, a magnetic field response module, a repulsive magnetic levitation working gap (27) disposed between the magnetic field generating module and the magnetic field response module, one or more physical or virtual grouped magnetic field units G1 to Gn, a power drive and conversion unit, a position or phase determination unit, and a control unit, where n is an integer greater than or equal to 1; the physical grouped magnetic field unit includes at least one of physical partition windings, physical partition electromagnets, segmented permanent magnet modules, segmented electromagnetic modules, or permanent magnet-electromagnetic hybrid modules; the virtual grouped magnetic field unit consists of a continuous winding region having at least one of locally addressable electrical connection branches, independently controllable electromagnetic execution sections, or space vector controllability, and a continuous winding region. The continuous electromagnetic execution region or continuous magnetic field execution region is formed by dividing the region according to mechanical position, phase interval, spatial vector state, or control timing. At least one of the physical or virtual grouped magnetic field units G1 to Gn is a controllable magnetic field execution unit electrically connected to the power drive and conversion unit. The position or phase determination unit is used to acquire, determine, or estimate the relative position information between the magnetic field generating module and the magnetic field response module, and determine the local spatial region or phase interval currently participating in support, drive, commutation, compensation, damping, or feedback based on the relative position information. The local spatial region or phase interval is the current effective working window. When the working state of the corresponding controllable magnetic field execution unit changes from... When characterizing the solid polarity or composite polarity of the working surface, the position or phase determination unit determines the local polarity of the opposite working surface within the current effective working window based on at least one of local peak polarity, local principal polarity, or a preset polarity mapping relationship; the control unit controls the energizing phase, current direction, current amplitude, or on / off state of the corresponding controllable magnetic field execution unit, so that the solid polarity of the working surface of the corresponding controllable magnetic field execution unit or the composite polarity formed by the superposition of multiple magnetic field units is the same as the local polarity of the opposite working surface, thus forming a same-polarity relative relationship; when the working state of the corresponding controllable magnetic field execution unit is characterized by the equivalent magnetic field vector direction, the position or phase determination unit determines the local polarity of the opposite working surface within the current effective working window based on the equivalent magnetic field vector direction. The direction of the target equivalent magnetic field vector is determined by at least one of the following: magnetic pole phase or preset polarity mapping relationship; the control unit adjusts the equivalent magnetic field vector direction of the corresponding controllable magnetic field execution unit to the target equivalent magnetic field vector direction by controlling the energizing phase, current direction, current amplitude, or on / off state of the corresponding controllable magnetic field execution unit, so that a normal magnetic action component along the local normal target direction and a tangential magnetic action component along the local tangential target direction are formed between the opposite working surfaces; the relationship between the solid polarity or composite polarity of the working surface and the local polarity of the opposite working surface is the same, or the relationship between the equivalent magnetic field vector direction and the target equivalent magnetic field vector direction constitutes the target magnetic field relationship;As the relative motion between the magnetic field generating module and the magnetic field response module changes and the current effective working window changes, the control unit selects and controls the corresponding controllable magnetic field execution unit according to the current effective working window to maintain, continuously establish, or re-establish the target magnetic field relationship within the current effective working window. This allows the repulsive oblique thrust window to be continuously formed or re-formed within the repulsive magnetic levitation working gap (27) with the relative motion, and forms an oblique magnetic pressure distribution on the effective working area. The area integral of the oblique magnetic pressure distribution on the effective working area forms the oblique magnetic resultant force F. The signed projections of the oblique magnetic resultant force F in the local normal and local tangential directions are the normal force component Fn and the tangential force component Ft, respectively.

2. The magnetoelectric power system according to claim 1, characterized in that, At least one of the magnetic field generating module and the magnetic field response module includes a main repulsive magnetic unit facing the repulsive magnetic levitation working gap (27) and at least one attractive auxiliary magnetic unit disposed in an embedded slot, a non-working side, or a back closed path away from the repulsive magnetic levitation working gap (27); the attractive auxiliary magnetic unit is used to guide the auxiliary magnetic flux to close along the embedded slot, the non-working side, or the back closed path; the control unit performs grouped independent excitation on one or more controllable magnetic field execution units corresponding to the main repulsive magnetic unit, so that within the current effective working window, the solid polarity or composite polarity of the working surface of the controllable magnetic field execution unit is the same as the local working surface polarity of the main repulsive magnetic unit facing the repulsive magnetic levitation working gap (27), so as to form a local same polarity relative relationship.

3. The magnetoelectric dynamic system according to claim 2, characterized in that, The main repulsive magnetic unit includes a main peak oblique repulsive magnetic unit and a secondary peak reverse oblique magnetization receiving magnetic unit; the main peak oblique repulsive magnetic unit is arranged facing the repulsive magnetic levitation working gap (27), the secondary peak reverse oblique magnetization receiving magnetic unit is arranged adjacent to the main peak oblique repulsive magnetic unit, and at least a part of the secondary peak reverse oblique magnetization receiving magnetic unit is arranged facing the repulsive magnetic levitation working gap (27); there are two attraction auxiliary magnetic units, and the two attraction auxiliary magnetic units are respectively arranged in the embedded slots, non-working side or back closed path at both ends of the main repulsive magnetic unit; the main repulsive magnetic unit and the two attraction auxiliary magnetic units are provided with an inner segmented soft magnetic return sheet on the side facing away from the repulsive magnetic levitation working gap (27) to form a back magnetic flux closed path.

4. The magnetoelectric dynamic system according to claim 1, characterized in that, At least one of the magnetic field generating module and the magnetic field response module includes at least one of the following peak magnetic field structures: a continuous peak array, a discrete peak array, a stepped peak array, an obliquely magnetized permanent magnet array, a non-Halbach continuous peak gradient permanent magnet array, a continuous peak Halbach permanent magnet array, or an equivalent peak electromagnetic field structure formed by oblique windings; the peak magnetic field structure has at least one of the following: local peak polarity, local principal polarity, equivalent magnetic pole phase, or preset polarity mapping relationship that can be identified by the position or phase determination unit; the continuous peak Halbach... In a permanent magnet array, adjacent magnetic units are arranged according to the classical Halbach phase progressive magnetization relationship. By offsetting the overall magnetization direction, using non-uniform geometric dimensions, or using the working side position, the working side forms a slope peak magnetic flux distribution that changes continuously or approximately continuously along the direction of relative motion. The non-Halbach continuous slope peak gradient permanent magnet array does not satisfy the classical Halbach phase progressive magnetization relationship. By using at least one of the geometric dimensions of the magnetic units, the working side position, the magnetization direction, or the magnetic flux closed path, the working side forms a slope peak magnetic flux distribution that changes continuously or approximately continuously along the direction of relative motion.

5. The magnetoelectric power system according to claim 1, characterized in that, At least one of the magnetic field generating module and the magnetic field response module includes a radially partitioned unipolar repulsive Halbach electromagnet array assembly (26); the radially partitioned unipolar repulsive Halbach electromagnet array assembly (26) includes multiple electromagnet partitions, electrical connection terminal groups (20), insulating eddy current suppression pads (21), a flat strip conductive bridge top panel (22), an N-pole flat strip conductive bridge structure (23), an S-pole flat strip conductive bridge structure (24), and an electromagnet module conductive bridge base panel (25); the electrical connection terminal groups (20) are electrically connected to the corresponding electromagnet partitions respectively, and the insulating eddy current suppression pads (21) are disposed between adjacent conductive structures; the N-pole flat strip conductive bridge structure (23) and the S-pole flat strip conductive bridge structure (24) form a current conduction path that can change the current direction and working surface polarity of the corresponding electromagnet partition; the magnetic fields generated by the multiple electromagnet partitions are superimposed to form a composite magnetic field, and the composite magnetic field can be characterized by the composite polarity or the direction of the equivalent magnetic field vector.

6. The magnetoelectric power system according to claim 4, characterized in that, The control unit performs peak polarity following commutation control on the sloping peak magnetic field structure; the position or phase determination unit determines a preset commutation point and a synchronous commutation window containing the preset commutation point based on the relative position information and at least one of local peak polarity, local principal polarity, equivalent magnetic pole phase, or preset polarity mapping relationship; the control unit is used to determine whether at least one of the following commutation conditions is met: (1) the solid polarity or composite polarity of the working surface will be different from the local polarity of the opposite side working surface after the preset commutation point; (2) the direction of the equivalent magnetic field vector will deviate from the target equivalent magnetic field vector after the preset commutation point. Direction of measurement; when it is determined from the relative position information that the relative position will reach the preset pole-switching point or has entered the synchronous pole-switching window, and at least one of the commutation conditions is met, the control unit controls the corresponding controllable magnetic field actuator to perform current reduction, current follow-through, zero vector, weak excitation or disconnection before the preset pole-switching point or within the synchronous pole-switching window, and adjusts its energizing phase, current direction or current amplitude, so that the solid polarity or composite polarity of the working surface is again the same as the local polarity of the opposite side working surface, or the equivalent magnetic field vector direction is readjusted to the target equivalent magnetic field vector direction, so as to re-form the repulsive oblique thrust window.

7. The magnetoelectric dynamic system according to claim 1, characterized in that, When a structural ring-shaped single-pole phase repulsion discontinuous phase drive path is adopted, the phase repulsion segments or partitions formed by multiple physical or virtual grouped magnetic field units, or multiple magnetic field action segments in a continuous magnetic field ring structure, have a preset circumferential phase repulsion relationship along the ring-shaped relative motion direction; at least one magnetic field execution unit corresponding to the phase repulsion segment, partition, or magnetic field action segment is a controllable magnetic field execution unit, which includes at least one of an electromagnet partitioned rotation execution structure, a winding group partitioned rotation execution structure, or a controllable magnetic field execution structure with an equivalent spatial phase repulsion relationship; with the relative motion between the magnetic field generating module and the magnetic field response module, one of the phase repulsion segments... When a phase segment, partition, or magnetic field action segment leaves the current effective working window, the adjacent phase-off segment, partition, or magnetic field action segment enters the current effective working window. Under the same preset operating direction, the control unit selects the controllable magnetic field execution unit corresponding to the phase-off segment, partition, or magnetic field action segment that has entered the current effective working window, and realizes the phase-off connection by controlling at least one of the on / off state or excitation current amplitude of the controllable magnetic field execution unit. During startup, reversal, or operating condition switching, the control unit can adjust the energizing phase or current direction of the corresponding controllable magnetic field execution unit.

8. The magnetoelectric dynamic system according to claim 1, characterized in that, The power drive and conversion unit includes at least one of the following: a unidirectional drive unit, an inverter unit, a rectifier unit, a bidirectional inverter-rectifier unit, an H-bridge drive unit, a multiphase power control unit, a current source drive unit, a voltage source drive unit, a matrix conversion unit, a switching matrix, an energy dissipation unit, a bus clamping unit, an energy storage interface, or an external load interface, and is connected to at least one of the following: a DC bus, an energy storage unit, or an external load. Under conditions such as pole switching preparation zone, preset pole switching advance angle position, synchronous pole switching window, deceleration condition, overspeed condition, external reverse drag condition, or damping requirement condition, the control unit, through the power drive and conversion unit, enables at least one... A controllable magnetic field actuator enters a controlled damping state or a pulsed controllable feedback state, or causes the corresponding energy dissipation unit or bus clamping unit to enter an energy dissipation state or a bus clamping state; the controlled damping state or the pulsed controllable feedback state causes the tangential magnetic action component to form in the opposite direction to the current motion direction; the electrical energy generated in the pulsed controllable feedback state is formed by electromagnetic conversion of the mechanical energy released by the rotor or mover during external reverse drag, deceleration or other relative motion, or it comes from other external mechanical energy inputs and is input to the DC bus, energy storage unit or external load, or dissipated by the energy dissipation unit.

9. The magnetoelectric dynamic system according to claim 1, characterized in that, The magnetoelectric power system includes at least one of the following: radially inclined slotted conductive flat wire winding unit (28), radially inclined conductive coil winding unit (29), axially inclined base conductive flat wire winding unit (30), or axially offset conductive flat wire winding unit (44); the slot direction, coil arrangement direction, installation direction, or wiring angle of the winding unit is inclined or offset relative to at least one of the local normal, local tangential, radial, or axial directions, so that it forms an oblique electromagnetic field with local normal magnetic field component and local tangential magnetic field component after being energized.

10. The magnetoelectric dynamic system according to claim 1, characterized in that, The magnetoelectric power system includes at least one of a partitioned winding structure or a permanent magnet rotor structure; the partitioned winding structure includes multiple conductive coil winding sections or conductive flat wire winding sections distributed along the axial, radial or circumferential direction and independently controllable; the permanent magnet rotor structure includes a V-shaped embedded permanent magnet rotor array assembly (48) or a surface slotted permanent magnet rotor array assembly (49); when the magnetoelectric power system includes the permanent magnet rotor structure, the control unit controls the controllable magnetic field execution unit arranged opposite to the permanent magnet rotor structure according to the current effective working window, so that the solid polarity or composite polarity of the working surface of the controllable magnetic field execution unit is the same as the polarity of the current relative local working surface of the rotor, or adjusts the equivalent magnetic field vector direction of the controllable magnetic field execution unit according to the equivalent magnetic pole phase or preset polarity mapping relationship.

11. The magnetoelectric dynamic system according to claim 1, characterized in that, The magnetoelectric power system includes an axially coupled phase-shifting positioning support assembly (11), an inner stator (40) of a three-segment phase-shifting axially coupled monopole repulsive permanent magnet array, and an outer rotor (41) of a monopole repulsive permanent magnet array. The inner stator (40) includes three circumferential phase-shifting segments arranged along the axial direction. One of the circumferential phase-shifting segments is a controllable electromagnetic actuation segment formed by a radially partitioned monopole repulsive Halbach electromagnet array assembly (26), and the other two circumferential phase-shifting segments are permanent magnet phase-shifting segments. The inner stator (40) can move axially relative to the outer rotor (41), and the outer rotor (41) maintains axial positioning. The axial movement changes the effective overlap length, effective coupling area, axial insertion depth, or effective magnetic field area between the inner stator (40) and the outer rotor (41).

12. The magnetoelectric dynamic system according to claim 1, characterized in that, The magnetoelectric power system includes at least one of the following configurations: (1) a linear drive structure including a stator magnetic field structure and a mover magnetic field response structure arranged opposite to each other; (2) a curved or spherical attitude control structure including a curved stator magnetic field structure and a curved permanent magnet array mover structure; (3) a joint drive structure including an axial magnetic field structure arranged on both sides of the moving part and a drive channel that controls the magnetic field force on both sides respectively; (4) a radial drive structure including a radial winding structure, an annular permanent magnet array rotor structure and a heat dissipation structure that rotates with the rotor structure; (5) an axial winding structure arranged on both sides of the stator and a joint drive structure that controls the magnetic field force on both sides respectively. (6) A double-sided axial drive structure with a rotor structure of axial permanent magnet array relative to each other; (7) A radial-axial composite magnetic levitation motor structure including a radial magnetic field execution structure and an axial magnetic field execution structure; (8) A radial hub motor structure including an inner stator electromagnetic execution ring structure and an outer rotor permanent magnet ring array structure; (9) An integrated inner rotor structure of a radial-axial composite ducted motor including an axial electromagnet ring structure, a radial electromagnet ring structure and an inner rotor blade structure; (10) An integrated composite ducted motor structure including an inner magnetic field drive structure, an outer magnetic field drive structure and an integrated ducted engine blade connecting the inner rotor and the outer rotor.

13. A control method for a magnetoelectric dynamic system with opposite poles and oblique peak thrust, characterized in that, include: The system acquires, determines, or estimates the relative position information between the magnetic field generating module and the magnetic field response module, and determines the local spatial region or phase interval currently involved in support, drive, commutation, compensation, damping, or feedback based on the relative position information. This local spatial region or phase interval is the current effective working window. Based on the current effective working window, it determines one or more corresponding physical or virtual grouped magnetic field units G1 to Gn, at least one of which is a controllable magnetic field execution unit, where n is an integer greater than or equal to 1. The virtual grouped magnetic field unit has at least one of the following: a locally addressable electrical connection branch, an independently controllable electromagnetic execution section, or controllable spatial vector capability. When the working state of the corresponding controllable magnetic field execution unit is determined by the working surface solid polarity or the composite pole... During characterization, the local polarity of the opposite working surface within the current effective working window is determined based on at least one of local peak polarity, local principal polarity, or a preset polarity mapping relationship. The energizing phase, current direction, current amplitude, or on / off state of the corresponding controllable magnetic field execution unit is controlled to ensure that the solid or composite polarity of the working surface of the corresponding controllable magnetic field execution unit is the same as the local polarity of the opposite working surface. When the working state of the corresponding controllable magnetic field execution unit is characterized by the equivalent magnetic field vector direction, the target equivalent magnetic field vector direction is determined based on at least one of the equivalent magnetic pole phase or a preset polarity mapping relationship. The corresponding controllable magnetic field execution unit is then activated by controlling its energizing phase, current direction, current amplitude, or on / off state. The equivalent magnetic field vector direction of the unit is adjusted to the target equivalent magnetic field vector direction, so that a normal magnetic action component along the local normal target direction and a tangential magnetic action component along the local tangential target direction are formed between the relative working surfaces; the relationship between the solid polarity or composite polarity of the working surface and the local polarity of the opposite working surface, or the relationship between the equivalent magnetic field vector direction and the target equivalent magnetic field vector direction, constitutes the target magnetic field relationship; at least one of the following controls is executed according to the driving path adopted: when a structural annular single-pole phase repulsion phase-separated driving path is adopted, the phase-separated segment, partition, or magnetic field action segment corresponding to the current effective working window is selected to implement structural group independent excitation control; when a peak polarity following commutation driving path is adopted... During the path, peak polarity following commutation control is implemented based on the relative position information and at least one of local peak polarity, local main polarity, equivalent magnetic pole phase or preset polarity mapping relationship; as the relative movement between the magnetic field generating module and the magnetic field response module and the change of the current effective working window change, the corresponding controllable magnetic field execution unit is selected and controlled according to the current effective working window to maintain, continue to establish or re-establish the target magnetic field relationship within the current effective working window, thereby making the repulsive oblique thrust window continuously formed or re-formed with the relative movement within the repulsive magnetic levitation working gap (27) between the magnetic field generating module and the magnetic field response module, and forming an oblique magnetic pressure distribution on the effective working area;The area integral of the oblique magnetic pressure distributed over the effective area forms the resultant oblique magnetic force F. The signed projections of the resultant oblique magnetic force F in the local normal and local tangential directions are the normal force component Fn and the tangential force component Ft, respectively.

14. The control method according to claim 13, characterized in that, When at least one of the magnetic field generating module and the magnetic field response module includes a main repulsive magnetic unit facing the repulsive magnetic levitation working gap (27) and an attractive auxiliary magnetic unit disposed in an embedded slot, non-working side or back closed path away from the repulsive magnetic levitation working gap (27), one or more controllable magnetic field execution units disposed corresponding to the main repulsive magnetic unit are independently excited in groups, so that within the current effective working window, the solid polarity or composite polarity of the working surface of the controllable magnetic field execution unit is the same as the polarity of the local working surface of the main repulsive magnetic unit facing the repulsive magnetic levitation working gap (27), and the auxiliary magnetic flux is guided to close along the embedded slot, non-working side or back closed path.

15. The control method according to claim 13, characterized in that, When the magnetic field generating module or the magnetic field response module includes a continuous sloping peak array, a discrete sloping peak array, a stepped sloping peak array, or an equivalent sloping peak electromagnetic field structure: based on the relative position information and at least one of the local peak polarity, local principal polarity, equivalent magnetic pole phase, or preset polarity mapping relationship, determine a preset pole-switching point and a synchronous pole-switching window containing the preset pole-switching point; determine whether at least one of the following commutation conditions is satisfied: (1) the solid polarity or composite polarity of the working surface will be different from the local polarity of the opposite side working surface after the preset pole-switching point; (2) the direction of the equivalent magnetic field vector will deviate from the local polarity of the opposite side working surface after the preset pole-switching point. The target equivalent magnetic field vector direction; when it is determined from the relative position information that the relative position will reach the preset pole-switching point or has entered the synchronous pole-switching window, and at least one of the commutation conditions is met, before the preset pole-switching point or within the synchronous pole-switching window, the corresponding controllable magnetic field execution unit is controlled to perform current reduction, current continuation, zero vector, weak excitation or disconnection, and its energizing phase, current direction or current amplitude is adjusted so that the solid polarity or composite polarity of the working surface is again the same as the local polarity of the opposite side working surface, or the equivalent magnetic field vector direction is readjusted to the target equivalent magnetic field vector direction, so as to re-form the repulsive oblique thrust window.

16. The control method according to claim 13, characterized in that, It also includes zoned energy flow management: under the following conditions: in the pole switching preparation zone, preset pole switching advance angle position, synchronous pole switching window, deceleration condition, overspeed condition, external reverse drag condition, or damping requirement condition, the power drive and conversion unit connected to at least one of the controllable magnetic field actuators is controlled to make the controllable magnetic field actuator enter a controlled damping state or a pulsed controllable feedback state, or to make the corresponding energy dissipation unit or bus clamping unit enter an energy dissipation state or a bus clamping state; the controlled damping state or the pulsed controllable feedback state causes the tangential magnetic action component to form in the opposite direction to the current motion direction; the electrical energy generated in the pulsed controllable feedback state is formed by electromagnetic conversion of the mechanical energy released by the rotor or mover during external reverse drag, deceleration, or other relative motion, or it comes from other external mechanical energy input and is input to the DC bus, energy storage unit, or external load, or it is dissipated by the energy dissipation unit.

17. A pure permanent magnet same-pole relative oblique peak thrust rotation system, characterized in that, The system includes an inner monopole repulsive permanent magnet array assembly rotating body (100) and an outer monopole repulsive permanent magnet array assembly rotating body (101) arranged coaxially, and a repulsive magnetic levitation working gap (27) located between their opposing working surfaces; both include an annular permanent magnet magnetic field structure formed by non-energized permanent magnet modules; the inner monopole repulsive permanent magnet array assembly rotating body maintains a fixed circumferential position around a common axis, and the outer monopole repulsive permanent magnet array assembly rotating body rotates around the common axis; the annular permanent magnet magnetic field structure of the outer monopole repulsive permanent magnet array assembly rotating body includes multiple permanent magnet magnetic field action segments arranged according to a preset circumferential phase-shifting relationship, and forms a spatial offset along the circumferential relative motion direction on the working side. The peak magnetic flux distribution is set; the current effective working window is determined according to the relative angular position of the outer monopole repulsive permanent magnet array assembly rotating body relative to the inner monopole repulsive permanent magnet array assembly rotating body; within the current effective working window, the local polarity of the two relative working surfaces is the same, and an oblique magnetic effect with local normal magnetic action component and local tangential magnetic action component is formed; when the outer monopole repulsive permanent magnet array assembly rotating body rotates, the permanent magnet magnetic field action segment enters and leaves the current effective working window in sequence, so that the repulsive oblique thrust window is continuously formed or reformed along the circumference, and forms a magnetic torque around the common axis on the outer monopole repulsive permanent magnet array assembly rotating body.

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