Modular dual-stator electrically excited doubly salient linear motor and its winding method

Abstract

The application relates to a mover modular double-stator electric-field-modulated double-concave-pole linear motor and a winding method thereof, which comprises upper and lower stator units and a middle mover module, the stator and the mover are both of tooth-slot structures with salient poles, the width ratio of the mover tooth slot is 1, the width ratio of the stator tooth slot is less than 0.5, the armature winding and the excitation winding are embedded in the mover slot, one armature coil is wound on each mover pole, the A, B and C three phases in the armature coil are sequentially wound along the mover tooth in order, the excitation coils are wound on the upper and lower ends of one mover unit module, the mover needs two or more modules to be spliced, the end force influence is offset by changing the turn ratio of the excitation coils in the middle and at the two ends of the mover, the edge effect of the linear motor is weakened, the asymmetric problem of each phase of the double-concave-pole motor can be solved, the efficiency, the control precision and the reliability of the double-concave-pole linear motor are improved through the modular design and the arrangement and the turn setting of the coil winding.

Description

Technical Field

[0001] This invention belongs to the field of linear motor technology, specifically relating to a modular mover, dual-stator electrically excited, dual-salient pole linear motor and its winding method. Background Technology

[0002] As the name suggests, a linear motor is a type of motor that can produce linear motion. Unlike ordinary rotary motors, linear motors directly convert electrical energy into mechanical energy for linear motion without any intermediate transmission conversion devices. Therefore, they are more efficient than the linear motion produced by traditional rotary motors through conversion devices. They have advantages such as simple structure, high efficiency, and easy maintenance. Moreover, they also have the advantages of permanent magnet motors, such as high operating efficiency and high power density. Therefore, linear motors have broad application prospects in CNC machine tools, laser cutting, logistics and transportation and other fields.

[0003] However, linear motors also have an inherent defect: the "end force problem," which has become the biggest obstacle to their application in high-precision control and servo applications. The magnetic field of a linear motor is uniformly and continuously distributed in the middle region between its primary and secondary windings, but becomes discontinuous and distorted at the ends, producing an edge effect that generates end forces. This reduces motion accuracy, affects system stability, and fails to meet the stringent high-precision requirements of modern industry.

[0004] To address the issues of low motion accuracy and thrust fluctuations caused by end forces in linear motors, current research has yielded some results. For example, patent CN202410636138.4 discloses a method for suppressing the magnetic reluctance of a permanent magnet linear synchronous motor using an end-magnetic adjustment module. This patent proposes a design that reduces the end effect of the linear motor by changing the shape of the stator end. The topology matrix corresponding to the end-magnetic adjustment module is obtained through topology encoding using binary numbers. Then, based on the elements in each row of the topology matrix, it is transformed into a high-dimensional space to obtain the optimal topology matrix on the left and right, thereby suppressing the magnetic reluctance of the linear motor and reducing the influence of end forces. This method effectively improves the smoothness and efficiency of the motor's operation. Another example is patent CN202311704028.9, which discloses a design method for an auxiliary end structure of a permanent magnet linear motor with low thrust fluctuations. This patent describes a technique for reducing end effects by adding auxiliary teeth at the stator end, causing the magnetic field to change in the end region and reducing the influence of end forces. This method is applicable to various types of linear motors and has broad application prospects.

[0005] Although the conventional methods in the prior art that reduce the end force by changing the end shape are effective, they often involve complex structural design and manufacturing processes, which increase production cost and difficulty. Therefore, there is an urgent need to find a simple and efficient solution that can solve the problems of low motion accuracy and thrust fluctuation of linear motors at the same time. Contents of the Invention

[0006] In view of the above situation, the present invention provides a mover-modular dual-stator electrically excited doubly salient linear motor and a winding method thereof, which adopts a dual-stator structure and reduces the influence of end force only by adjusting the number of turns of the excitation winding, providing a more concise and efficient solution, which not only simplifies the design process of the linear motor, but also improves the operation stability and efficiency of the motor.

[0007] To achieve the above objectives, first of all, the present invention proposes a mover-modular dual-stator electrically excited doubly salient linear motor, comprising a stator assembly and a mover assembly, wherein the stator assembly is a dual-stator structure composed of two stator modules arranged symmetrically up and down; the mover assembly comprises at least two mover modules movably sandwiched between the two stator modules, as well as three-phase armature windings and end excitation windings wound on the mover modules; both of the two stator modules and the mover modules are doubly salient structures formed by laminating a plurality of layers of high-permeability silicon steel sheets.

[0008] The core innovation of the present invention lies in that: the mover module is in a lying-down "Feng"-shaped structure, 6N mover salient poles are symmetrically arranged on the upper and lower sides of the mover assembly, and 2N stator salient poles are symmetrically arranged on the two opposite surfaces of the two stator modules of the stator assembly, wherein N is a positive integer, the stator salient poles and the mover salient poles are rectangular tooth structures, the tooth-slot width ratio of the stator module is 0.5, and the tooth-slot width ratio of the mover module is 1; the front end face and the rear end face of the mover module are further provided with a front end convex tooth and a rear end convex tooth respectively, which are used for realizing end-to-end butt joint between the front and rear mover modules, the three-phase armature windings are correspondingly transversely wound around the outer sides of the mover salient poles on the upper and lower sides of the mover module, and the end excitation windings are correspondingly longitudinally wound around the outer sides of the front end convex tooth and the rear end convex tooth of the mover module.

[0009] Further, dovetail groove structures are respectively formed on the front end face and the rear end face of the mover module, the front end convex tooth and the rear end convex tooth are correspondingly integrally fixed at the center of the dovetail groove structure, in order to prevent local magnetic circuit saturation, the connecting corners between the front and rear end convex teeth and the dovetail groove structure are all rounded, the tooth width of the mover module is equal to the tooth width of the stator module, and the slot width of the stator module is twice the slot width of the mover module.

[0010] Preferably, the front face of the front protrusion tooth is provided with a "Ω" shaped snap-fit ​​groove in the center, and the rear face of the rear protrusion tooth is fixed with a "Ω" shaped snap-fit ​​protrusion in the center. The snap-fit ​​protrusion of the front moving sub-module and the snap-fit ​​groove of the rear moving sub-module can be matched and snap-fit ​​connected, thereby realizing the end-to-end docking between the front and rear moving sub-modules.

[0011] Preferably, the three-phase armature winding is a concentrated winding wound on each mover salient pole of the mover module. The three-phase armature winding of each mover module is divided into three phases A, B, and C, which are wound sequentially along the mover salient pole to form 6N winding coils (that is, a set of three-phase windings A, B, and C are wound on the upper 3 mover salient poles and the lower 3 mover salient poles of the mover module respectively).

[0012] Furthermore, in order to reduce the edge effect unique to linear motors and the phase asymmetry problem of doubly salient pole motors, a front end excitation winding is wound on the front end protrusion of the moving module, and a rear end excitation winding is wound on the rear end protrusion of the moving module. By adjusting the number of turns of the two end excitation windings to generate corresponding excitation, the magnetic flux induced in the three-phase armature winding during the movement of the moving module can be approximately the same.

[0013] Secondly, based on the aforementioned modular double-stator electrically excited doubly salient pole linear motor, this invention provides a winding method suitable for manufacturing such an electrically excited doubly salient pole linear motor. The calculation relationship of the number of turns of the end excitation windings of the end mover module and the intermediate mover module is as follows: The expression for the magnetomotive force F0 of the intermediate moving submodule is: ; The original number of excitation winding turns is: N 0, current is I ; Air gap magnetic flux density B The expression for 0 is: ; Wherein, the air gap length is δ The vacuum permeability is u 0; Magnetoresistive properties of intermediate moving submodule R δ The expression is: ; Where A is the cross-sectional area of ​​the air gap; Leakage flux of an electrically excited doubly salient pole linear motor R leak The expression is: ; in, l leakThis is the length of the magnetic flux leakage path. A leak The cross-sectional area of ​​the leakage magnetic path; The leakage flux coefficient of the electrically excited doubly salient pole linear motor was obtained. k The expression is: ; Due to the leakage flux at the end, the equivalent magnetic reluctance of the end moving module increases, as expressed as kδ , k The leakage coefficient and k >1; The initial end magnetic flux density of an electrically excited doubly salient pole linear motor B The expression for 1 is: ; Original end magnetic flux B 1 is less than the magnetic flux density in the middle part B 0 results in end force; adjusting the number of turns of the end winding increases the end magnetic flux density, thereby achieving magnetic field balance. The end magnetic flux density after increasing the number of turns of the end excitation winding is B 2. The magnetomotive force after increasing the number of winding turns by ΔN at the end. F The expression for 2 is: ; Let the end magnetic flux density B 2 equals the magnetic flux density in the middle part B 0, obtained; ; After simplification, we get: ; The above describes the case of two moving submodules being joined together; similarly, this can be extended to n moving submodules.

[0014] When the mover assembly consists of multiple mover modules connected together, since the magnetic field experienced by each intermediate mover module is uniform, only the two end mover modules at the front and rear ends have edge effects. Therefore, there is no need to adjust the number of turns of the end excitation winding of the intermediate mover module. The end leakage magnetic field effect can be compensated by simply adjusting the number of turns of the end excitation winding of the two end mover modules at the front and rear ends, so as to achieve magnetic field balance and eliminate the end force problem.

[0015] The present invention also includes other components that enable its normal use, all of which are conventional means in the art. In addition, any devices or components not limited in the present invention adopt the prior art in the art.

[0016] The beneficial effects of this invention are as follows: The modular dual-stator electrically excited dual-salient pole linear motor provided by the present invention achieves a more uniform magnetic field distribution by symmetrically arranging dual-stator structures at both ends of the linear motor, without requiring changes to the shape of the stator ends, thus reducing production costs and difficulties.

[0017] By designing a modular mover assembly structure and optimizing the coil arrangement of the three-phase armature winding and the number of turns of the end excitation winding of the mover module, the magnetic field distribution of the linear motor can be adjusted, ensuring that the mover module is subjected to minimal end force during operation. By adjusting only the number of turns of the end excitation winding, magnetic field balance can be achieved, reducing the impact of end force. At the same time, the excitation winding and armature winding are located on the mover, which reduces winding copper loss compared to the traditional winding arrangement located on the stator track.

[0018] The 6N symmetrical winding coils of the moving module are distributed at different positions and are 120° out of phase. The upper and lower pairs of winding coils located at the same position are in phase, forming a three-phase winding A, B, and C with the same flux linkage rate of change in each phase. When the number of turns of the end excitation winding is adjusted to generate excitation, approximately the same flux linkage waveform is induced in the three-phase armature windings during the movement of the moving module. Magnetic field balance can be achieved by adjusting only the number of turns of the end excitation winding, reducing the influence of end forces.

[0019] The use of a dual-stator structure and a modular mover winding method not only simplifies the design process of linear motors but also improves their operational stability and efficiency, demonstrating significant technical advantages and application value. Attached Figure Description

[0020] Figure 1 This is a schematic axial cross-sectional view of the dual-stator electrically excited dual-salient-pole two-moving-submodule linear motor in Example 1; Figure 2 This is a schematic axial cross-sectional view of the dual-stator electrically excited doubly salient pole three-moving submodule linear motor in Example 3; Figure 3 This is a schematic diagram of the axial section of a traditional linear motor; Figure 4 This is a three-dimensional schematic diagram of the linear motor in Example 1; Figure 5 This is a partial enlarged view of the moving submodule in Example 1; Figure 6 The flux linkage waveform diagram is shown for the dual-stator electrically excited doubly salient pole linear motor in Example 1. Figure 7 The flux linkage waveform diagram of a traditional doubly salient pole linear motor; Figure 8 The back EMF waveform diagram of the dual-stator electrically excited doubly salient pole linear motor in Example 1 is shown. Figure 9The back EMF waveform of a traditional doubly salient pole linear motor; Figure 10 This is a schematic diagram of the magnetic induction intensity of the dual-stator electrically excited doubly salient pole linear motor in Example 1. Detailed Implementation

[0021] The present invention will now be clearly described in conjunction with the accompanying drawings and specific embodiments. Any modifications, equivalent substitutions, improvements, etc., made by those skilled in the art based on the embodiments of the present invention without inventive effort to obtain all other embodiments should be included within the scope of protection of the present invention.

[0022] In the description of this invention, it should be noted that the terms "upper," "lower," "left," "right," "front," "rear," "inner," "outer," "center," "vertical," and "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for ease of description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] Example 1 like Figure 1 As shown, this embodiment proposes a modular dual-stator electrically excited dual-salient pole linear motor, including a stator assembly and a mover assembly. The stator assembly is a dual-stator structure composed of two stator modules 1 arranged symmetrically on top and bottom. The stator module is a salient pole structure made of multiple layers of high-permeability silicon steel sheets stacked together. 2N stator salient poles 8 are symmetrically arranged on two opposite surfaces of the two stator modules of the stator assembly (that is, N pairs of protruding rectangular tooth structures are fixed on the lower surface of the upper stator module and the upper surface of the lower stator module respectively), where N is a positive integer, and the tooth slot width ratio of the stator module is 0.5 (that is, the slot width of the stator module is twice its tooth width).

[0024] The moving part assembly includes two moving parts 9 movably clamped between the two stator modules. Each moving part is a salient pole structure formed by stacking several layers of high permeability silicon steel sheets. The tooth slot width ratio of the moving part is 1 (i.e., the slot width of the moving part is equal to its tooth width). Furthermore, the tooth width of the moving part is equal to the tooth width of the stator module (i.e., the slot width of the stator module is twice the slot width of the moving part).

[0025] 3 pairs of mover salient poles 2 (i.e., 3 pairs of protruding rectangular tooth structures) are symmetrically and fixedly arranged on the upper and lower sides of a single mover module. A front end salient tooth 10 and a rear end salient tooth 4 are further respectively disposed on the front and rear end faces of the mover module, so each individual mover module appears as a lying-down "丰"-shaped structure. In this case, a total of 12 mover salient poles (i.e., 6N mover salient poles, where N=2 here) are disposed on the upper and lower side faces of the two mover modules constituting the mover assembly.

[0026] Both the front and rear ends of the mover module are dovetail groove structures 11, the front end salient tooth and the rear end salient tooth are correspondingly located right in the middle of the front and rear dovetail groove structures of the mover module, and rounded corners 12 are provided at the connection corners between the front and rear end salient teeth and the dovetail groove structures at positions where the excitation windings are placed, as Figure 5 shown. Furthermore, an "Ω"-shaped clamping groove 13 is centrally opened on the front end face of the front end salient tooth, and an "Ω"-shaped clamping protrusion 14 is centrally and fixedly disposed on the rear end face of the rear end salient tooth. The clamping protrusion of the former mover module can be adapted and snap-connected with the clamping groove of the latter mover module, and the front and rear mover modules are butted end to end to form the overall architecture of the mover assembly, as Figure 4 shown.

[0027] The mover assembly further includes two pairs of A-phase armature windings 7, two pairs of B-phase armature windings 6, two pairs of C-phase armature windings 5 correspondingly wound on the upper and lower 6 pairs of mover salient poles of the two mover modules, and 4 end excitation windings 3 correspondingly wound on the front and rear end salient teeth of the two mover modules.

[0028] As Figure 3 shown, the special single salient pole structure of the conventional linear motor leads to end flux leakage, which further causes the end force problem. As Figure 7 it shows the flux linkage waveform of the conventional doubly salient linear motor, since the end flux leakage is greater than the flux leakage in other positions, three-phase flux linkage symmetry cannot be achieved.

[0029] The electrically excited doubly salient linear motor provided by the present invention can eliminate the influence of end flux leakage by adjusting the number of winding turns of the end excitation windings at the front and rear ends of the two end mover modules. As Figure 6 it shows the flux linkage waveform of the dual-stator two-module electrically excited doubly salient linear motor after adjusting the number of turns of the side end excitation windings. After compensating for the end flux leakage, the three-phase flux linkage asymmetry is significantly improved, the inherent end force problem existing in conventional linear motors is solved, the amplitudes of the three-phase flux linkage are substantially symmetric, and the control precision of the linear motor is remarkably improved.

[0030] As Figure 8 it shows the three-phase back EMF waveform of the conventional doubly salient linear motor, Figure 9 it shows the three-phase back EMF waveform of the dual-stator two-module electrically excited doubly salient linear motor after adjusting the number of turns of the side end excitation windings.

[0031] Figure 10 This is a schematic diagram of the magnetic induction intensity of the electrically excited doubly salient pole linear motor in this invention, which allows for a direct observation of the magnetic induction intensity of the dual-stator modular electrically excited doubly salient pole linear motor.

[0032] Example 2 Based on the modular dual-stator electrically excited doubly salient pole linear motor proposed in Example 1, this example provides a winding method for manufacturing the corresponding electrically excited doubly salient pole linear motor. The calculation relationship of the number of winding turns of the end excitation windings of the end moving part module and the middle moving part module is as follows: The expression for the magnetomotive force F0 of the intermediate moving submodule is: ; The original number of excitation winding turns is: N 0, current is I ; Air gap magnetic flux density B The expression for 0 is: ; Wherein, the air gap length is δ The vacuum permeability is u 0; Magnetoresistive properties of intermediate moving submodule R δ The expression is: ; Where A is the cross-sectional area of ​​the air gap; Leakage flux of an electrically excited doubly salient pole linear motor R leak The expression is: ; in, l leak This is the length of the magnetic flux leakage path. A leak The cross-sectional area of ​​the leakage magnetic path; The leakage flux coefficient of the electrically excited doubly salient pole linear motor was obtained. k The expression is: ; Due to the leakage flux at the end, the equivalent magnetic reluctance of the end moving module increases, as expressed as kδ , k The leakage coefficient and k >1; The initial end magnetic flux density of an electrically excited doubly salient pole linear motor B The expression for 1 is: ; Original end magnetic flux B1 is less than the magnetic flux density in the middle part B 0 results in end force; adjusting the number of turns of the end winding increases the end magnetic flux density, thereby achieving magnetic field balance. The end magnetic flux density after increasing the number of turns of the end excitation winding is B 2. The magnetomotive force after increasing the number of winding turns by ΔN at the end. F The expression for 2 is: ; Let the end magnetic flux density B 2 equals the magnetic flux density in the middle part B 0, obtained; ; After simplification, we get: ; The above describes the case of two moving submodules being joined together; similarly, this can be extended to n moving submodules.

[0033] Example 3 The only difference between this embodiment and Embodiment 1 is that the mover assembly is formed by joining three mover modules end-to-end. The mover assembly has a total of 18 mover salient poles (i.e., 6N mover salient poles, where N=3 here) on its upper and lower sides. Each of the 18 mover salient poles corresponds to one of 18 A, B, and C three-phase armature windings. The three mover modules have six end excitation windings on their six front and rear end teeth. Figure 2 As shown.

[0034] The three-phase armature winding is a concentrated winding wound on the salient poles of each mover module. The A, B, and C three-phase armature windings of each mover module are wound sequentially in a horizontal and vertical, one-in-one-out order.

[0035] The end excitation winding is a concentrated winding wound on the front and rear convex teeth of the moving module. The windings of the end excitation winding are wound in a horizontal and vertical order, with one in and one out.

[0036] By adjusting the number of turns of the excitation windings at both ends to generate corresponding excitation, the magnetic flux induced in the three-phase armature windings during the movement of the moving module can be made approximately the same.

[0037] Since the magnetic field experienced by each intermediate moving submodule is uniform, and only the two end moving submodules at the front and rear ends have edge effects, there is no need to adjust the number of turns of the end excitation winding of the intermediate moving submodule. By simply adjusting the number of turns of the end excitation winding of the two end moving submodules at the front and rear ends, the effect of end leakage magnetic field can be compensated, magnetic field balance can be achieved, and the end force problem can be eliminated.

[0038] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A modular dual-stator electrically excited dual-salient-pole linear motor, comprising a stator assembly and a mover assembly, characterized in that: The stator assembly adopts a double-stator structure composed of two symmetrically arranged upper and lower stator modules; the mover assembly includes at least two mover modules movably sandwiched between the two stator modules, as well as three-phase armature windings and end excitation windings wound on the mover modules. Both the two stator modules and the mover modules are salient pole structures formed by laminating multiple layers of high-permeability silicon steel sheets, and the mover modules are in a lying-down "丰"-shaped structure. 6N mover salient poles are symmetrically arranged on the upper and lower sides of the mover assembly, and 2N stator salient poles are symmetrically arranged on the two opposite surfaces of the two stator modules of the stator assembly, where N is a positive integer. The stator salient poles and the mover salient poles are rectangular tooth structures, the tooth-slot width ratio of the stator module is 0.5, and the tooth-slot width ratio of the mover module is 1. The front and rear end faces of the mover module are further respectively provided with a front end convex tooth and a rear end convex tooth, which are used for realizing end-to-end butt joint between the front and rear mover modules. The three-phase armature windings are correspondingly transversely wound around the outer sides of the mover salient poles on the upper and lower sides of the mover module, and the end excitation windings are correspondingly longitudinally wound around the outer sides of the front and rear end convex teeth of the mover module.

2. The modular dual-stator electrically excited doubly salient pole linear motor according to claim 1, characterized in that: The tooth width of the mover module is equal to the tooth width of the stator module, and the slot width of the stator module is twice the slot width of the mover module.

3. The modular dual-stator electrically excited dual-salient pole linear motor according to claim 2, characterized in that: Dovetail groove structures are respectively opened on the front and rear end faces of the mover module, the front end convex tooth and the rear end convex tooth are both correspondingly arranged right in the middle of the dovetail groove structure, and the connecting corners between the front and rear end convex teeth and the dovetail groove structure are all rounded.

4. The modular dual-stator electrically excited dual-salient pole linear motor according to claim 3, characterized in that: The outer end faces of the front end convex tooth and the rear end convex tooth are correspondingly provided with mutually matching "Ω"-shaped clamping grooves and clamping protrusions, which are used as a buckle for end-to-end butt joint between the front and rear mover modules.

5. The modular dual-stator electrically excited dual-salient pole linear motor according to claim 4, characterized in that: The three-phase armature windings are concentrated windings wound on each mover salient pole of the mover module, and the three-phase armature windings of the mover assembly are divided into three phases A, B and C which are wound sequentially along the mover salient poles to form 6N winding coils.

6. The modular dual-stator electrically excited dual-salient pole linear motor according to claim 5, characterized in that: End excitation windings are respectively wound on the front and rear end convex teeth of the mover module. By adjusting the number of winding turns of the end excitation windings to generate corresponding excitation, the magnetic flux linkage induced in the three-phase armature windings during the movement of the mover module can be approximately the same.

7. The winding method for the modular dual-stator electrically excited doubly salient pole linear motor based on claim 6, characterized in that, The calculation relationship of the number of winding turns of the end excitation windings of the end mover modules and the intermediate mover module is: The expression of the magnetomotive force F0 of the intermediate mover module is: ； The original number of excitation winding turns is: N 0, current is I ; Air gap magnetic flux density B The expression for 0 is: ； Wherein, the air gap length is δ The vacuum permeability is u 0; Magnetic reluctance of intermediate moving submodule R δ The expression is: ； Wherein, A is the cross-sectional area of the air gap; Leakage flux of an electrically excited doubly salient pole linear motor R leak The expression is: ； in, l leak This is the length of the magnetic flux leakage path. A leak The cross-sectional area of ​​the leakage magnetic path; The leakage flux coefficient of the electrically excited doubly salient pole linear motor was obtained. k The expression is: ； Due to the leakage flux at the end, the equivalent magnetic reluctance of the end moving module increases, as expressed as kδ , k The leakage coefficient and k >1; The initial end magnetic flux density of an electrically excited doubly salient pole linear motor B The expression for 1 is: ； Original end magnetic flux B 1 is less than the magnetic flux density in the middle part B 0 results in end force; adjusting the number of turns of the end winding increases the end magnetic flux density, thereby achieving magnetic field balance. The end magnetic flux density after increasing the number of turns of the end excitation winding is B 2. The magnetomotive force after increasing the number of winding turns by ΔN at the end. F The expression for 2 is: ； Let the end magnetic flux density B 2 equals the magnetic flux density in the middle part B 0, obtained; ； After simplification, it is obtained that: ； The above is the case where two mover modules are spliced, and similarly, it can also be extended to n mover modules.

8. The winding method for the modular dual-stator electrically excited doubly salient pole linear motor according to claim 7, characterized in that: When the mover assembly is composed of a plurality of mover modules connected in butt joint, since the magnetic field applied to each intermediate mover module is uniform, only the two end mover modules at the front and rear ends have edge effects. Therefore, there is no need to adjust the number of winding turns of the end excitation windings of the intermediate mover modules. Only by adjusting the number of winding turns of the end excitation windings of the two end mover modules at the front and rear ends can the influence of end flux leakage be compensated, magnetic field balance be achieved, and the end force problem be eliminated accordingly.

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