Motor assemblies, systems and control systems

Abstract

A motor assembly including a mover assembly and a stator. The mover assembly includes a plurality of mover assembly units, each unit including a non-ferromagnetic core having an outer surface contour with at least two flat sections lying on intersecting planes, and at least two ferromagnetic lamination structures disposed on the at least two flat sections of the non-ferromagnetic core, each ferromagnetic lamination structure including a stack of ferromagnetic plates, each plate being covered with a non-conductive coating. Each ferromagnetic lamination structure is disposed on a corresponding one of the at least two flat sections of the non-ferromagnetic core, with a side of each ferromagnetic plate adjacent the non-ferromagnetic core, thereby causing the ferromagnetic plates of the at least two ferromagnetic lamination structures to lie on intersecting planes. The mover assembly unit further includes a winding of wire wound around the ferromagnetic lamination structures and the non-ferromagnetic core.

Description

[Technical field]

[0001] The present invention relates generally to direct drive motors, and more particularly to motor assemblies for direct drive motors. [Background technology]

[0002] background A conventional electric motor converts electrical energy into mechanical energy. A conventional electric motor operates through the interaction between the magnetic field of the motor and the current in the windings to generate force in the form of shaft rotation. Most of the conventional electric motors require pairing with a reduction transmission mechanism (such as a gearbox) when driving a load for various applications. This pairing is mainly due to two reasons: (a) typically, electric machines are most efficient at a rated speed, which is usually much higher than the required speed of the load; (b) the direct torque output of the electric machine is usually not large enough for the application, and a transmission mechanism is required to increase the torque. Such motor drive architectures, including both electric motors and transmission mechanisms, are utilized in various application areas such as machine tools, industrial machines, home appliances, and electric vehicles.

[0003] However, gearboxes typically have nonlinear dynamic characteristics such as backlash hysteresis and nonlinear Coulomb friction, which can impair the dynamic performance of electric motors and are undesirable for precision applications. Therefore, in some applications, such as machine-room-less elevators, robotic manipulators, precision rotary stages, and in-wheel drives for electric vehicles, it may be beneficial to eliminate the transmission and drive the load directly with the electric motor. A motor that drives a load directly is called a direct drive motor.

[0004] Most electric motors are rotating machines with a rotor that rotates along an axis. Some applications, e.g., linear precision stages, require linear motion. Therefore, a transmission, such as a belt, is needed along with the rotary motor. Traditional "servo motor" and "transmission" systems are typically used for serve feed purposes, which are essential for many industrial applications, such as CNC machine tools. With the presence of transmissions, friction and complex structures are inherent drawbacks in such systems. Therefore, for such systems, a direct drive system with a linear motor is highly desirable.

[0005] For a linear direct drive motor, the basic structure includes one stator and one mover / forcer with an air gap between them. A typical stator in a direct drive motor consists of a permanent magnet and a back iron core, forming a linear rail. An exemplary mover / forcer can include a coil with or without an iron core, moves along the stator rail (also called a "stator track"), and is generally short in length compared to the stator track. However, such a configuration in a conventional linear direct drive motor provides only a limited, e.g., only one, interface between the stator and the mover that generates thrust. Thus, a significant amount of current-carrying windings that generate useful thrust remain unused.

[0006] Therefore, there is a need for a linear direct drive motor having a better design structure that overcomes the above-mentioned shortcomings of conventional linear direct drive motors. Summary of the Invention

[0007] overview It is an objective of some embodiments to provide a motor configuration (or assembly) based on a linear direct drive motor configuration, which provides multiple interfaces between a stator and a mover to generate higher density thrust.

[0008] It is an object of some embodiments of the present disclosure to provide a motor configuration (or assembly) with a mover and a stator that delivers high force density for direct drive actuators in various applications. It is also an object of some embodiments of the present disclosure to provide a motor assembly that increases force density by reducing eddy current losses. Additionally or alternatively, it is an object of some embodiments of the present disclosure to provide a motor assembly that provides flexibility in adjusting the dimensions of each force-generating surface of the motor configuration, such as the intersecting surfaces of the mover and the stator.

[0009] Some embodiments are based on the recognition that the force density of a linear direct drive motor can be increased by increasing the interface formed by the force-generating surfaces (also called "active surfaces") of the motor configuration. The force-generating surfaces are formed by the surfaces of the mover having wire windings adjacent to the surfaces of the stator having magnets. In order to increase the interface without impractically increasing the dimensions of the motor assembly, more complex contours of the force-generating surfaces are required, including force-generating surfaces that lie on intersecting planes. Examples of such contours include L-shaped contours, rectangular contours, triangular contours, etc. However, force-generating surfaces that lie on intersecting planes introduce additional problems that reduce the efficiency of the motor.

[0010] Some embodiments are based on the realization that when a motor assembly includes a mover and at least two ferromagnetic structures are arranged on at least two intersecting surfaces of the mover, the motor assembly generates at least two currents, each current being generated due to an interface between each surface of the mover and a corresponding surface of the stator. The magnetic fields generated by these currents are in different directions. Thus, eddy currents are generated in different directions in the at least two ferromagnetic structures of the motor assembly, resulting in significant losses.

[0011] To reduce losses due to eddy currents in the motor assembly, at least two ferromagnetic structures are laminated using laminations. The specific lamination direction is selected according to the magnetic field pattern, which is then generated by currents flowing through the windings of the mover (also called "winding currents"). For a linear motor with one active surface for thrust generation, the main magnetic field pattern is in one direction, and it is easy to address this issue and select the same lamination direction for the ferromagnetic structures. However, for a linear motor with multiple active surfaces in different directions, the magnetic field is generated in different directions in the ferromagnetic structures. Using laminations with the same direction cannot reduce eddy current losses for all directions. The motor assembly reduces eddy current losses in all directions by using multiple laminated structures in different directions according to the magnetic field direction.

[0012] Therefore, the present disclosure proposes a linear motor assembly having at least two force-generating interfaces between stator tracks (or rails), the stator tracks comprising an array of permanent magnets, such as Vernier or Halbach permanent magnets, and the mover comprising a slotted iron core (also called ferromagnetic laminations) to hold the windings and guide the magnetic flux, and a central non-ferromagnetic core to support the iron core and the windings. The iron core is laminated, e.g., the iron core is a steel plate laminated to minimize eddy current losses. Some exemplary shapes of linear motor assemblies having at least two intersecting, force-generating interfaces include U-shaped stator rails and mover, triangular stator and mover, diamond shaped stator and mover, trapezoidal stator and mover, etc.

[0013] Accordingly, one embodiment discloses a motor assembly including a mover assembly configured to slide along magnets forming an inner wall of a stator during operation of the motor assembly, the mover assembly including a plurality of mover assembly units, each mover assembly unit including a non-ferromagnetic core having an outer surface contour with at least two flat sections on intersecting planes. The mover assembly unit further includes at least two ferromagnetic lamination structures disposed on the at least two flat sections of the non-ferromagnetic core, each of the at least two ferromagnetic lamination structures including a stack of ferromagnetic plates. Each ferromagnetic plate in the stack is covered with a non-conductive coating, and each of the at least two ferromagnetic lamination structures is disposed on a corresponding one of the at least two flat sections of the non-ferromagnetic core such that a side of each ferromagnetic plate is adjacent to the non-ferromagnetic core, such that the ferromagnetic plates of the at least two ferromagnetic lamination structures are on intersecting planes perpendicular to the intersecting planes of the at least two flat sections of the non-ferromagnetic core. The mover assembly unit further comprises at least two ferromagnetic laminations and a winding of wire wrapped around the non-ferromagnetic core.

[0014] In some embodiments, the shape of the mover assembly corresponds to a polyhedron.

[0015] In some embodiments, each mover assembly unit comprises a non-ferromagnetic core having a U-shaped profile of an outer surface with three flat sections, the first ferromagnetic lamination structure and the second ferromagnetic lamination structure are disposed on the first flat section and the second flat section of the non-ferromagnetic core, respectively. The first flat section and the second flat section are parallel to each other and perpendicular to the third flat section of the non-ferromagnetic core, and the third ferromagnetic lamination structure is disposed in the gap facing the third flat section of the non-ferromagnetic core. The third ferromagnetic lamination structure is disposed in the gap facing the third flat section of the non-ferromagnetic core. The third ferromagnetic lamination structure is positioned using another non-ferromagnetic core having first and second protrusions that slide into corresponding first and second grooves of the non-ferromagnetic core such that the third ferromagnetic lamination structure is isolated from the first and second ferromagnetic lamination structures that are on a plane that intersects the plane in which the third ferromagnetic lamination structure is located.

[0016] In some embodiments, each planar section of the at least two planar sections includes a groove to accommodate a ferromagnetic laminate structure, and the ferromagnetic laminate structure slides into the groove on each planar section of the at least two planar sections.

[0017] Some embodiments are based on the realization that a modular mover allows flexibility in adjusting the length of the mover, and thus the mover assembly is formed by a plurality of mover assembly units, which are stacked on each other to form the mover assembly using guide teeth and grooves on the ferromagnetic lamination structure of each mover assembly unit of the plurality of mover assembly units.

[0018] In some embodiments, the stator comprises at least two inner walls, each wall comprising an array of magnets, and the mover is disposed within the stator such that the at least two ferromagnetic laminations and the windings around the at least two ferromagnetic laminations face the at least two inner walls of the stator, and further, the magnets in the array of magnets in the stator include at least one of a Halbach permanent magnet or a Vernier permanent magnet.

[0019] Accordingly, one embodiment discloses a system including a motor including a motor assembly, further comprising a digital controller configured to generate control signals specifying one or a combination of values ​​of multi-phase voltages and multi-phase currents of the motor to track a reference trajectory of a torque of the motor, and an inverter supplying the multi-phase voltages and multi-phase currents generated in accordance with the control signals to multi-phase windings of the motor to reduce an error between the reference trajectory and a measured torque of the motor.

[0020] Accordingly, another embodiment discloses a motor assembly including a mover assembly configured to slide along an outer wall of a stator during operation of the motor assembly. The mover assembly includes a magnet on an inner wall of the mover assembly. The stator includes a non-ferromagnetic core having an outer surface contour with at least two flat sections on intersecting planes, and at least two ferromagnetic laminations disposed on the at least two flat sections of the non-ferromagnetic core, each of the at least two ferromagnetic laminations including a stack of ferromagnetic plates. Each ferromagnetic plate in the stack is covered with a non-conductive coating, and each of the at least two ferromagnetic laminations is disposed on a corresponding one of the at least two flat sections of the non-ferromagnetic core such that a side of each ferromagnetic plate is adjacent to the non-ferromagnetic core, such that the ferromagnetic plates of the at least two ferromagnetic laminations are on intersecting planes perpendicular to the intersecting planes of the at least two flat sections of the non-ferromagnetic core. The stator further includes a winding of wire wound around the at least two ferromagnetic laminations and the non-ferromagnetic core. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The presently disclosed embodiments are further described with reference to the accompanying drawings, in which: The drawings shown are not necessarily to scale, with emphasis generally being placed upon illustrating the principles of the presently disclosed embodiments. [Brief description of the drawings]

[0022] [Figure 1] FIG. 1 illustrates a top perspective view of a motor assembly in accordance with an exemplary embodiment. [Diagram 2] FIG. 1 illustrates a U-shaped stator according to an exemplary embodiment. [Diagram 3] 1 illustrates an exploded view of a mover assembly in accordance with an illustrative embodiment; [Figure 4] 1 illustrates an arrangement of a mover assembly unit and a mover assembly end unit to form a mover assembly according to an example embodiment. [Diagram 5] FIG. 2 illustrates a mover assembly unit of a mover assembly in accordance with an exemplary embodiment. [Figure 6] FIG. 2 illustrates a ferromagnetic lamination structure disposed on a non-ferromagnetic core of a mover assembly unit of a mover assembly according to an exemplary embodiment. [Figure 7] 1 illustrates assembly of a mover assembly unit in accordance with an exemplary embodiment; [Figure 8] FIG. 2 illustrates an arrangement of a first ferromagnetic lamination structure and a second ferromagnetic lamination structure on a section of a non-ferromagnetic core of a mover assembly unit of a mover assembly according to an exemplary embodiment. [Figure 9] FIG. 1 illustrates a U-shaped non-ferromagnetic core of a mover assembly unit according to an exemplary embodiment. [Figure 10] 3A-3C are diagrams illustrating the shapes of ferromagnetic plates used to form a ferromagnetic laminate structure according to an exemplary embodiment. [Figure 11] FIG. 13 illustrates a third ferromagnetic laminate structure disposed on a non-ferromagnetic core according to an exemplary embodiment. [Figure 12]FIG. 2 illustrates a rectangular bar-shaped section of a non-ferromagnetic core according to an exemplary embodiment. [Figure 13] FIG. 2 illustrates a fully assembled mover assembly end unit of a mover assembly in accordance with an exemplary embodiment. [Figure 14] 1 illustrates a shape of a ferromagnetic plate of a mover assembly end unit of a mover assembly according to an exemplary embodiment. [Figure 15] FIG. 1 illustrates a shape of a mover assembly having at least two intersecting surfaces according to an exemplary embodiment. [Figure 16] FIG. 1 illustrates a block diagram of an alternative motor assembly in accordance with an exemplary embodiment. [Figure 17] FIG. 1 illustrates a block diagram of a control system for a motor that includes a motor assembly, according to an exemplary embodiment. [Figure 18] FIG. 1 illustrates a block diagram of a control system with a linear motor in accordance with an illustrative embodiment. [Figure 19] FIG. 1 illustrates a block diagram of an alternative control system including a linear motor in accordance with an illustrative embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] Detailed Description In the following description, for purposes of explanation, numerous specific details are set forth in order to facilitate a thorough understanding of the present disclosure. However, it will be apparent to those skilled in the art that the present disclosure may be practiced without these specific details. In other instances, devices and methods are shown only in block diagram form in order to avoid obscuring the present disclosure.

[0024] As used herein and in the claims, the words "for example," "for example," "e.g.," "etc.," and the verbs "comprise," "have," "include," and other verb forms thereof, when used with a list of one or more components or other items, should each be construed as open-ended, meaning that the list should not be considered to exclude other additional components or items. The wording "based on" means based at least in part on. Furthermore, it should be understood that the phraseology and terminology used herein are for purposes of description and should not be considered limiting. Any headings used within this description are for convenience only and have no legal or limiting effect.

[0025] FIG. 1 illustrates a top perspective view of a motor assembly 100 according to an exemplary embodiment. The motor assembly 100 includes a mover assembly 101 and a stator 103. The mover assembly 101 is small in size compared to the stator 103, and the mover assembly 101 is configured to slide along an inner wall of the stator 103 during operation of the motor assembly 100. The inner wall of the stator 103 forms a track (also called a "rail") for the mover assembly 101, which includes at least two magnet arrays, namely a first magnet array 103a and a second magnet array 103b, along the inner wall of the stator 103. Additionally, an enlarged view of the mover assembly is reproduced in FIG. 1. The moving assembly 101 is shown inverted in the enlarged view for ease of illustration.

[0026] The mover assembly 101 (in a close-up view) is composed of multiple mover assembly units (mover assembly unit 1, mover assembly unit 2, ..., mover assembly unit n), where each mover assembly unit (e.g., mover assembly unit 1) includes a non-ferromagnetic core 107 on which at least two ferromagnetic lamination structures, e.g., a first ferromagnetic lamination structure 109a, a second ferromagnetic lamination structure 109b, and a third ferromagnetic lamination structure 109c, are disposed. Furthermore, each mover assembly unit includes a winding 105 of wire wound around the non-ferromagnetic core 107 and the at least two ferromagnetic lamination structures (e.g., 109a, 109b, and 109c), where the wire is made of any conductive material, such as copper.

[0027] The motor assembly 100 is configured such that as the mover assembly 101 moves along the stator 103, at least two sides of each mover assembly unit (mover assembly unit 1 to mover assembly unit n) of the mover assembly 101 interact with at least two arrays 103a and 103b of magnets on the stator 103. The interaction between the mover assembly 101 and the arrays 103a and 103b of magnets on the stator 103 generates a thrust force in the direction shown in FIG. 1, which is used to drive a load, for example a linear direct drive motor.

[0028] FIG. 2 shows a U-shaped stator 200 according to an exemplary embodiment. The U-shaped stator 200 corresponds to the stator 103 (FIG. 1). The U-shaped stator 200 comprises a U-shaped support frame 201. Three cores, a first core 205a, a second core 205b, and a third core 205c, are installed on three inner walls of the U-shaped support frame 201. Each core (205a-205c) comprises a protrusion, i.e., a first protrusion 207a, a second protrusion 207b, and a third protrusion 207c, respectively, and to install each core 205a-205c, each protrusion 207a-207c is slid through a corresponding groove on the U-shaped support frame 201.

[0029] Further, each of the cores 205a-205c includes an array of permanent magnets (also referred to as a "magnet array"), for example a first magnet array 203a on the first core 205a, a second magnet array 203b on the second core 205b, and a third magnet array 203c on the third core 205c.

[0030] In some embodiments, the thrust density generated by the motor assembly 100 shown in FIG. 1 is improved by using vernier permanent magnets. To this end, the vernier permanent magnets use the magnetic gearing effect to generate higher torque density at low speeds. pm , number of slots / teeth Z s But the following relation Z pm =Z s When ±p is satisfied, a vernier permanent magnet motor can be realized.

[0031] Considering only the fundamental harmonic terms, the magnetomotive force (MMF) generated by a permanent magnet array is expressed as:

number

[0032] where x is the position of the gap in the direction of travel, L is the active length of the mover, and F pm1 is magnet B r Residual magnetic flux, magnet height h m , and the amplitude is given by the free space permeability μ.

number

[0033] Air gap permeability P taking into account the fundamental harmonic term of the slotting effect due to the teeth in the mover g (x,t) is expressed as follows:

number

[0034] where P0 is the DC component of the permeability, P1 is the amplitude of the first harmonic term, Z is the slot number in the mover, and x t is the position of the mover at time t.

[0035] The air gap flux density produced by the permanent magnet array is then calculated as:

number

[0036] The first term of the air gap magnetic flux density is the harmonic order Z pm and the second term is the harmonic order Z pm ±Z s has.

[0037] To generate thrust, the air-gap flux must interact with the MMF generated by the winding current of the same harmonic order. The fundamental order of the MMF due to the winding current is p, which is the number of pole pairs in the winding. Taking into account the slotting effect, the MMF has a harmonic order of Z s This includes ±p.

[0038] Therefore, condition Z pm =Z s When ±p holds, both terms in the air gap flux density match the winding MMF and can be used to generate thrust. The first term is Z pm =Z s +p or Z pm =Z s -p, the second term is (Z pm -Z s )=±p.

[0039] In this case, both the fundamental harmonic air-gap flux and the tooth harmonic air-gap flux participate in thrust generation, effectively increasing the thrust density.

[0040] In another embodiment, the motor assembly 100 may utilize a Halbach array of magnets, which is a configuration of permanent magnets that enhances the magnetic field on one side of the array and cancels the magnetic field to near zero on the other side.

[0041] Some embodiments are based on the recognition that magnetic field enhancement is achieved by arranging horizontally magnetized magnets between alternating polarities. The Halbach array reduces the magnitude of high-order magnetic field harmonics. Thus, the Halbach array helps the motor to operate smoothly. In addition, the Halbach array does not require a thick secondary back iron as the permanent magnet array, thus saving material costs.

[0042] Further details regarding the mover assembly 101 are described below with reference to FIGS. The mover assembly consists of:

[0043] FIG. 3 shows an exploded view of the mover assembly 101 according to an exemplary embodiment. FIG. 3 is described below in conjunction with FIG. 1. The mover assembly 101 comprises a plurality of mover assembly units 301a, 301b, 301c, 301d, 301e, 301f, 301g, 301h, 301i, 301j, 301k, 301l and a mover assembly end unit 303. For ease of explanation, only seven mover assembly units (301a-301l) are shown in FIG. 3. However, the number of mover assembly units may be further increased or decreased based on the intended application of the mover assembly 101 without departing from the scope of the present disclosure. Thus, the mover assembly 101 is modular, and the size of the mover assembly 101 is adjustable depending on the type of application intended for use.

[0044] Each of the mover assembly units 301a-301l is composed of three small sections, including a non-ferromagnetic core 107, a ferromagnetic lamination structure 109a-109c, and a winding of wire 105. The multiple mover assembly units 301a-301l are stacked together with the help of guide teeth and grooves on the ferromagnetic lamination structure 109 of each mover assembly unit of the multiple assembly units to form the mover assembly 101. The mover assembly 101 further comprises a mover assembly end unit 303, which is attached to the last mover assembly unit 301l. Details of the arrangement of the multiple mover assembly units 301a-301l and the mover assembly end unit 503 are provided below with reference to FIG. 4.

[0045] FIG. 4 shows the arrangement of the mover assembly units 301k, 301l and the mover assembly end unit 303 to form the mover assembly 101 according to an exemplary embodiment. FIG. 4 will be described below in conjunction with FIG. 3. The mover assembly end unit 303 is fitted to the last mover assembly unit 301l. To that end, the protrusion 405l of the mover assembly unit 301l corresponding to the first ferromagnetic lamination structure 109a is used as a guide tooth, and the protrusion 405l slides into the groove 303a corresponding to the ferromagnetic lamination structure 407 of the mover assembly end unit 303. Similarly, the protrusions corresponding to the other ferromagnetic lamination structures 109b and 109c of the mover assembly unit 301 slide into the grooves corresponding to the ferromagnetic lamination structures 409 and 411 of the mover assembly end unit 303.

[0046] Similarly, the protrusion 401k corresponding to the first ferromagnetic structure 109a of the mover assembly unit 301k is slid into the groove 403l corresponding to the first ferromagnetic structure 109a of the mover assembly unit 301l. Also, the protrusions corresponding to the other ferromagnetic laminate structures 109b, 109c of the mover assembly 301k are slid into the grooves corresponding to the ferromagnetic laminate structures 109b, 109c of the mover assembly 301l. In this manner, the multiple mover assembly units 301a-301l and the mover assembly end unit 303 are connected to form the mover assembly 101.

[0047] Further, a detailed description of the configuration of each mover assembly unit of the mover assembly 101 is provided below with reference to FIGS. Mover Assembly Mover Assembly Unit consists of:

[0048] FIG. 5 shows a mover assembly unit 301a of the mover assembly 101 according to an exemplary embodiment. The configuration of each mover assembly unit 301a-301l is the same as that of the mover assembly unit 301a described below. The mover assembly unit 301a mainly consists of three components, namely, a non-ferromagnetic core 107a, a ferromagnetic lamination structure 109 (i.e., a first ferromagnetic lamination structure 109a, a second ferromagnetic lamination structure 109b and a third ferromagnetic lamination structure 109c), and a winding 105a. The ferromagnetic lamination structures 109a-109c are arranged in at least three different directions and support the rectangular-shaped winding 105a.

[0049] Each of the ferromagnetic laminate structures 109a-109c is made of a plurality of ferromagnetic plates. For example, the ferromagnetic laminate structure 109a is made of a plurality of ferromagnetic plates 501a, 501b, ..., 501n, each of which is laminated with a non-conductive material such as an electrical laminate sheet arranged in a different direction to minimize eddy current losses. The other ferromagnetic laminate structures 109b, 109c are formed in a similar manner. The laminate sheets are made of at least one of the following materials: cobalt, nickel alloy, or silicon steel.

[0050] The ferromagnetic laminate structures 109a-109c are attached to a support frame, non-ferromagnetic core 107a, which is fabricated using a non-ferromagnetic material such as aluminum. The structure of non-ferromagnetic core 107a and the arrangement of ferromagnetic laminate structures 109a-109c on non-ferromagnetic core 107a will be described below.

[0051] Furthermore, the winding 105a is disposed in a space formed by the arrangement of the ferromagnetic laminate structures 109a-109c on the non-ferromagnetic core 107a. The winding 105a is formed by winding a wire around the three ferromagnetic laminate structures 109a-109c, the wire being formed from a conductive material.

[0052] Some embodiments of the present disclosure are based on the recognition that by configuring the mover assembly 101 with a mover assembly unit such as the mover assembly unit 301a including at least two ferromagnetic lamination structures (109a-109c or 109b-109c) on intersecting planes, flexibility is achieved to manufacture any shape of the mover assembly unit 301a, and thus flexibility is achieved to design any shape of the mover assembly 101. Thus, motor assemblies 100 with different sizes and shape configurations of the mover assembly 101 can be achieved for use in multiple applications to generate thrust.

[0053] Furthermore, the proposed motor assembly 100 design not only reduces eddy current losses but also adjusts the direction of the current generated by the movement of the mover assembly 101 within the stator 103 so that a higher density thrust is generated.

[0054] To this end, laminations are used to reduce eddy current losses in the motor assembly 100. A particular lamination direction is selected according to the magnetic field pattern generated by the current flowing through the winding 105a. The motor assembly 100 includes multiple active surfaces in different orientations that generate thrust, the active surfaces corresponding to the interfaces between the mover assembly 101 and the stator 103 of the motor assembly 100. Magnetic fields are generated in different directions in the ferromagnetic structures that face the stator 103 during operation of the mover assembly 101. Thus, the ferromagnetic structures are laminated to generate multiple laminations (109a-109c) in each mover assembly unit 301a-301n, and multiple laminations (109a-109c) in different orientations according to the magnetic field direction are used in the motor assembly 101 to reduce eddy current losses in all directions.

[0055] FIG. 6 shows ferromagnetic lamination structures (109a-109c) arranged on a non-ferromagnetic core 107a of a mover assembly unit 301a of a mover assembly 101 according to an exemplary embodiment. The mover assembly unit 301a includes a non-ferromagnetic core 107a with at least two flat sections, e.g., a first flat section 607 and a second flat section 609, lying on intersecting planes. At least two ferromagnetic lamination structures 109b, 109c are arranged on the at least two flat sections 607, 609 of the non-ferromagnetic core 107a, lying on intersecting planes, respectively. Each of the at least two ferromagnetic lamination structures 109b, 109c includes a stack of ferromagnetic plates, e.g., the ferromagnetic lamination structure 109b is formed by stacking plates 611a, 611b, ..., 611n. Similarly, the ferromagnetic lamination structure 109c is formed (FIG. 5). Each ferromagnetic plate (611a-611n) in the stack is covered with a non-conductive coating that electrically insulates each ferromagnetic plate from the other ferromagnetic plates in the stack.

[0056] Further, each of the at least two ferromagnetic laminate structures 109b and 109c is disposed on a corresponding one of the at least two flat sections 607 and 609 of the non-ferromagnetic core 107a such that a side of each ferromagnetic plate is adjacent to the non-ferromagnetic core 107a, such that the ferromagnetic plates of the at least two ferromagnetic laminate structures 109b and 109c are on intersecting planes perpendicular to the intersecting planes of the at least two flat sections 607 and 609 of the non-ferromagnetic core 107a. Further, a winding 105a of wire (not shown in FIG. 6) is wound around the at least two ferromagnetic laminate structures 109b and 109c and the non-ferromagnetic core 107a.

[0057] Also, in FIG. 6, each of the three ferromagnetic laminate structures 109a to 109c is substantially L-shaped. For example, in the first ferromagnetic laminate structure 109a, the section 601a and the section 601b form an L-shape, in the second ferromagnetic laminate structure 109b, the section 603a and the section 603b form an L-shape, and in the third ferromagnetic laminate structure 109c, the section 605a and the section 605b form an L-shape. As can be seen from FIG. 6, a space is formed between the two legs of the L-shaped structure. For example, a space (shown by a dotted line) is formed between the sections 601a and 601b of the first ferromagnetic laminate structure 109a. Similarly, a space is formed between the sections 603a and 603b of the second ferromagnetic laminate structure 109b, and a space is formed between the sections 605a and 605b of the third ferromagnetic laminate structure 109c. When the three L-shaped structures (109a-109c) are combined or arranged, a space 613 is formed within the mover assembly unit 301a in which the winding 105a is wound (FIG. 5).

[0058] Furthermore, each of the multiple mover assembly units 301a-301l is modular in nature, i.e., the size and length of each mover assembly unit is adjustable. Details of the modular configuration of each mover assembly unit are provided below with reference to FIG.

[0059] FIG. 7 shows the assembly of the mover assembly unit 301a according to an exemplary embodiment. FIG. 7 will be described below in conjunction with FIG. 6. The non-ferromagnetic core 107a consists of two sections 701a, 701b, where section 701a is a U-shaped non-ferromagnetic core and section 701b is a rectangular bar-shaped non-ferromagnetic core, and the two sections 701a, 701b are detachably attached to each other to form the non-ferromagnetic core 107a. The rectangular bar-shaped non-ferromagnetic core 701b corresponds to the second flat section 609 (FIG. 6). The size of each section 701a and 701b can be modified (increased or decreased) based on the design requirements of the motor assembly 101. Section 701b includes protrusions 707a and 707b that slide into grooves on the inner wall of section 701a, for example protrusion 707a slides into groove 703a, and similarly protrusion 707b slides into a corresponding groove (not visible in FIG. 7) on the inner wall of section 701a to form the non-ferromagnetic structure 107a of mover assembly unit 301a. With this configuration of mover assembly unit 301a, the ferromagnetic lamination structures on the intersecting planes of the non-ferromagnetic core 107a are electrically isolated, i.e., the third ferromagnetic lamination structure 109c is electrically isolated from the first ferromagnetic lamination structure 109a and the second ferromagnetic lamination structure 109b.

[0060] Furthermore, the first ferromagnetic lamination structure 109a comprises a protrusion 709a (at the front side of the mover assembly unit 301a) and a groove 705a (at the rear side of the mover assembly unit 301a), where the protrusion 709a of one mover assembly unit (e.g., 301a) acts as a guide tooth that fits into the slot 705a of another mover assembly unit (e.g., 301b). The other ferromagnetic lamination structures 109b and 109c also comprise the same protrusion and slot.

[0061] FIG. 8 shows the arrangement of the first ferromagnetic lamination structure 109a and the second ferromagnetic lamination structure 109b on the section 701a of the non-ferromagnetic core 107a of the mover assembly unit 301a of the mover assembly 101 according to an exemplary embodiment. FIG. 8 is described below in conjunction with FIG. 7. The two ferromagnetic lamination structures 109a, 109b are composed of a number of ferromagnetic plates, the shape of each ferromagnetic plate being described below in FIG. 10. The first ferromagnetic lamination structure 109a comprises protrusions 801a, 803a and slots 805a, where the protrusions 801a slide into grooves on the contour of the section 701a of the non-ferromagnetic core 107a. Also, the protrusions 803a correspond to the protrusions 709a (FIG. 7), and the slots 805a correspond to the slots 705a (FIG. 7). Similarly, the second ferromagnetic laminate 109b includes projections 807a, 809a, and slots 811a, with projections 807a sliding into grooves on the contour of section 701a of non-ferromagnetic core 107a. Section 701a further includes grooves 809a and 811a in its inner wall, with groove 809a corresponding to groove 703a (FIG. 7).

[0062] 9 shows a U-shaped non-ferromagnetic core 701a of the mover assembly unit 301a according to an exemplary embodiment. The section 701a of the non-ferromagnetic core 107a has a U-shaped profile of the outer surface having three flat sections, a first flat section 901a, a second flat section 901b, and a third flat section 901c, where the first flat section 901a and the second flat section 901b are parallel to each other, and the third flat section 901c is on a plane intersecting the plane in which the first flat section 901a lies and the plane in which the second flat section 901b lies. The second flat section 901b corresponds to the first flat section 607 of FIG. 6.

[0063] The non-ferromagnetic core 701a has a first groove 903a on an outer surface of a first planar section 901a and a second groove 903b on an outer surface of a second planar section 901b, the groove 903a being configured to receive a protrusion 801a (FIG. 8) of the first ferromagnetic laminate structure 109a and the groove 903b being configured to receive a protrusion 807a of the second ferromagnetic laminate structure 109b.

[0064] The protrusions such as 801a, 803a, 807a, 809a and the slots such as 805a, 811a on each ferromagnetic laminate structure (109a, 109b) are formed by stacking a number of ferromagnetic plates, each ferromagnetic plate having a particular shape.

[0065] FIG. 10 shows the shape of a ferromagnetic plate 1000 used to form the ferromagnetic laminate structures 109a-109c according to an exemplary embodiment. The ferromagnetic laminate structures 109a-109c are manufactured by stacking a plurality of ferromagnetic plates, where each ferromagnetic plate 1000 of the plurality of ferromagnetic plates is stacked using a lamination sheet. Each ferromagnetic plate 1000 is generally L-shaped and includes two protrusions 1001a, 1001b and a slot 1003. The plurality of ferromagnetic plates are stacked such that the protrusions 1001b, 1001a and the slot 1003 of each ferromagnetic plate 1000 drop onto another ferromagnetic plate 1000 in the stack of the plurality of ferromagnetic plates, resulting in the protrusions 801a, 803a and the slot 805a of the first ferromagnetic laminate structure 109a, respectively. The second ferromagnetic laminate structure 109b and the third ferromagnetic laminate structure 109c are stacked in a similar manner.

[0066] In this manner, the first ferromagnetic lamination structure 109a and the second ferromagnetic lamination structure 109b are disposed on the section 701a of the non-ferromagnetic core 107a. Further, the location of the third ferromagnetic lamination structure 109c on the section 701b of the non-ferromagnetic core will be described below with reference to Figures 11 and 12.

[0067] FIG. 11 shows a third ferromagnetic laminate structure 109c disposed on the section 701b of the non-ferromagnetic core 107a according to an exemplary embodiment. The third ferromagnetic laminate structure 109c is similar to the first ferromagnetic laminate structure 109a and the second ferromagnetic laminate structure 109b. However, the length of the third ferromagnetic laminate structure 109c is shorter than the ferromagnetic laminate structures 109a and 109b. Thus, the third ferromagnetic laminate structure 109c is formed similarly to the first ferromagnetic laminate structure 109a. Thus, the third ferromagnetic laminate structure 109c is formed by stacking the multiple ferromagnetic plates 1101a, 1101b, ..., 1101n. Each ferromagnetic plate of the multiple ferromagnetic plates 1101a-1101n is stacked with a non-conductive coating, such as a laminate sheet. Additionally, the shape of each of the ferromagnetic plates 1101a-1101n is the same as the shape of the ferromagnetic plate 1000 shown in Fig. 10. As a result of stacking the ferromagnetic plates 1101a-1101n, a third ferromagnetic laminate structure 109c is formed having protrusions 1103a, 1103b and slots 1105. The protrusions 1103a slide into the grooves on the non-ferromagnetic core 701b, and the third ferromagnetic laminate structure 109c is supported by the non-ferromagnetic core 701b.

[0068] FIG. 12 shows a rectangular bar-shaped section 701b of the non-ferromagnetic core 107a according to an exemplary embodiment. FIG. 12 is described below in conjunction with FIG. 9 and FIG. 11. Section 701b includes a groove 1201 into which protrusion 1103a of the third ferromagnetic laminate structure 109c slides. Section 701b further includes protrusions 707a and 707b on the sides, which allow non-ferromagnetic core 707b to slide into the grooves (811a and 809a (FIG. 9)) of non-ferromagnetic core 701a (i.e., into the gap opposite the third flat section 901c of non-ferromagnetic core 107), such that the two ferromagnetic laminate structures on intersecting planes are electrically isolated from each other.

[0069] In this manner, each mover assembly unit of the mover 101 is constructed. Furthermore, the mover assembly 101 includes a mover assembly end unit 503 that is attached to the last mover assembly unit 301l. The configuration of the mover assembly end unit 503 will be described later with reference to Figs. 13 and 14. II. Mover Assembly End Unit Configuration:

[0070] 13 illustrates a fully assembled mover assembly end unit 503 of the mover assembly 101 according to an exemplary embodiment. The configuration of the mover assembly end unit 503 is the same as that of the mover assembly unit 301a. However, the shapes of the ferromagnetic plates used to construct the ferromagnetic laminate structure of the mover assembly end unit are different.

[0071] Thus, the mover assembly end unit 503 includes a non-ferromagnetic core 107a, in which a first ferromagnetic laminate structure 1303a is disposed on a first flat section 1301a of the non-ferromagnetic core 107a, a second ferromagnetic laminate structure 1303b is disposed on a second flat section 1301b of the non-ferromagnetic core 107a, and a third ferromagnetic laminate structure 1303c is disposed on a third flat section 1301c of the non-ferromagnetic core 107a. Each of the three ferromagnetic laminate structures 1303a-1303c is composed of multiple ferromagnetic plates, similar to the mover assembly unit 301a. The shape of each ferromagnetic plate will be described later in FIG. 14. Also, each ferromagnetic plate is laminated together with a laminate sheet.

[0072] The stack of multiple ferromagnetic plates results in a slot 1305a in the first ferromagnetic laminate structure 1303a, a slot 1305b in the second ferromagnetic laminate structure 1303b, and a slot 1305c in the third ferromagnetic laminate structure 1303c. Through each slot 1305a-1305c, a guide tooth of the last mover assembly unit 301l is fitted to form the mover assembly 101.

[0073] 14 illustrates the shape of a ferromagnetic plate 1400 of the mover assembly end unit 503 of the mover assembly 101 according to an exemplary embodiment. The ferromagnetic plate 1400 includes two slots 1401a and 1401b on either side of the ferromagnetic plate 1400. In addition, the ferromagnetic plate 1400 includes a protrusion 1403. A plurality of ferromagnetic plates 1400 shaped as shown in FIG. 14 are stacked to form three ferromagnetic laminate structures 1303a-1303c (FIG. 13). Exemplary embodiments:

[0074] FIG. 15 illustrates a shape of a mover assembly 101 having at least two intersecting surfaces according to an exemplary embodiment. The shape of the mover assembly 101 includes a non-ferromagnetic core having at least two sections lying in intersecting planes and at least two ferromagnetic laminate structures (e.g., 109a-109c or 109b-109c) disposed on at least two flat sections of the non-ferromagnetic core, and corresponds to a polyhedron. FIG. 15 illustrates the shape of a polyhedron from a front view (or in 2D). For example, some shapes of the mover assembly 101 may correspond to other polygons such as trapezoid (shape 1501), rhombus (shape 1505), hexagon (shape 1509), and triangle (shape 1513), as well as shapes 1503, 1507, etc. The different shapes of the mover assembly 101 illustrated in FIG. 15 are shown for illustrative purposes only. However, one skilled in the art will appreciate that any other equivalent shape of the mover assembly 101 may be used to achieve the same objectives as described in the various embodiments above without departing from the scope of the present disclosure. Furthermore, a specific shape of the stator corresponding to the specific shape of the mover of shapes 1501-1511 is designed such that the specific stator allows the specific mover to move along the specific stator to generate thrust.

[0075] Some embodiments are based on the recognition that thrust can be generated using a motor assembly 100 having different combinations of stators and movers. For example, the functions of the mover and stator may be interchanged, i.e., the mover may be configured with an array of magnets and the stator may be configured with coils (FIG. 16).

[0076] FIG. 16 shows a block diagram of an alternative motor assembly 1600, according to an exemplary embodiment. FIG. 16 is described below in conjunction with FIGS. 1-3. The motor assembly 1600 comprises a mover assembly 1601 and a stator 1603. The mover assembly 1601 is small in size compared to the stator 1603, and the mover assembly 1601 is configured to slide along an outer wall of the stator 1603 during operation of the motor assembly 1600, and the inner wall of the mover assembly 1601 comprises a track (also referred to as a "rail"). The track on the inner wall of the mover assembly 1601 comprises at least two arrays of magnets along the inner wall of the mover assembly 1603.

[0077] Furthermore, the stator 1603 comprises a non-ferromagnetic core 107, the contour of the outer surface of which has at least two flat sections on intersecting planes. The contour of the stator 1603 is similar to the contour of the mover assembly 101 (as shown in Figs. 1 and 6). On the at least two flat sections of the non-ferromagnetic core 107, at least two ferromagnetic lamination structures are arranged, for example, a first ferromagnetic lamination structure 109a, a second ferromagnetic lamination structure 109b and a third ferromagnetic lamination structure 109c. Each of the at least two ferromagnetic lamination structures (for example, 109a, 109b and 109c) includes a stack of ferromagnetic plates. For example, the stack of ferromagnetic plates 501a-501n shown in Fig. 5 for the mover assembly 101 can be used similarly to build the stator 1603 with a stack of ferromagnetic plates. Each ferromagnetic plate in the stack is covered with a non-conductive coating, and each of the at least two ferromagnetic laminate structures is disposed on a corresponding one of the at least two planar sections of the non-ferromagnetic core 107. In this manner, a side of each ferromagnetic plate is adjacent to the non-ferromagnetic core 107, whereby the ferromagnetic plates of the at least two ferromagnetic laminate structures lie on intersecting planes perpendicular to the intersecting planes of the at least two planar sections of the non-ferromagnetic core 107.

[0078] Additionally, the stator 1603 comprises a winding 105 of wire (also called a "coil") wound around a non-ferromagnetic core 107 and at least two ferromagnetic laminations (e.g., 109a, 109b, and 109c), the wire being formed from any electrically conductive material, such as copper.

[0079] In some embodiments, the stator is composed of multiple stator units (similar to multiple mover assembly units 301a-301n), each stator unit having a structure as outlined above.

[0080] The motor assembly 100 is configured such that as the mover assembly 1601 moves along the outer wall of the stator 1603, at least two sides of the stator 1603 interact with at least two arrays of magnets on the mover assembly 1601. The interaction between the stator 1601 and the arrays of magnets on the inner wall of the mover assembly 1601 generates a thrust force in the direction shown in FIG. 1, which is used to drive a load, for example, a linear direct drive motor.

[0081] In this manner, the functions of the elements of the motor assembly 100 (ie, the mover assembly 101 and the stator 103) can be interchanged.

[0082] FIG. 17 illustrates a block diagram of a control system for a motor 1701 comprising the motor assembly 100 (or alternatively, the motor assembly 1600) according to an exemplary embodiment. FIG. 17 is described below in conjunction with FIG. 1. The motor 1701 is a linear direct drive motor comprising the motor assembly 100 to generate thrust. The motor 1701 is connected to a load 1703 via a connection 1705. The position of the mover assembly 101 of the motor assembly 100 may be measured by position sensors such as encoders and Hall effect sensors, and the measured position signal is fed back 1707 to an analog-to-digital converter of a digital controller 1709. In addition, the torque of the motor 1701 is also measured. The digital controller 1709 is configured to generate a control signal 1711 specifying values ​​of one or a combination of the multi-phase voltages and currents of the motor 1701. In particular, the digital controller 1709 includes a reference trajectory generator 1713 and a motion controller 1715. The reference trajectory generator 1713 generates a reference trajectory 1717 of the torque of the motor. Both the measured position 1707 and the reference trajectory 1717 of the motor are provided to a motion controller 1715, which generates a control signal 1711 in the form of a digital pulse width modulated (PWM) signal. The PWM signal 1711 controls the gate of an inverter 1719. A DC power supply 1721 generates high voltage DC power 1723 for the inverter 1719. The inverter 1719 is configured to provide multi-phase voltages and currents 1725 to the multi-phase windings of the motor according to the control signal to reduce the error between the reference trajectory 1713 and the measured torque of the motor 1701. With such a control system, the position of the motor can be controlled to follow the reference trajectory.

[0083] FIG. 18 shows a block diagram of a control system 1800 including a linear motor according to an exemplary embodiment. The control system 1800 includes a mover assembly 1801 having a coil according to an exemplary embodiment, and a stator assembly 1802 having a magnet according to an embodiment. The length of the stator assembly 1802 along the direction of movement of the motor is greater than the length of the mover assembly 1802. A controller 1805 generates control signals for the movement of the mover assembly 1901. , K Send it through the cable . The cable is protected by a cable guide 1803 to prevent it from becoming tangled and being damaged. An object may be placed or mounted on the mover assembly 1801 to be transported from one location to another.

[0084] FIG. 19 shows a block diagram of an alternative control system 1900 with a linear motor according to an exemplary embodiment. The control system 1900 includes a stator assembly 1901 with a coil according to an exemplary embodiment, and a mover assembly 1902 with a magnet according to an embodiment. The length of the stator assembly 1901 along the direction of movement of the motor is greater than the length of the mover assembly 1902. An object to be transported from one location to another can be placed or mounted on each mover assembly 1902. The controller 1905 generates a control signal for the movement of the mover assembly 1902 and transmits it through a power cable. In this system, no cable guide is required because the stator assembly does not move and the cable can be fixed to the stator assembly. This system can include two or more mover assemblies 1902 on the same stator assembly, since the length of each mover assembly is shorter than the stator assembly 1901 and there are no cables associated with the mover assembly. Each individual mover assembly 1902 can be moved independently along the stator assembly 1901 by switching the position of the coil to be excited within the stator assembly 1901 using a control signal generated by the controller 1905.

[0085] The following description provides exemplary embodiments only and is not intended to limit the scope, applicability, or configuration of the present disclosure. Rather, the following description of exemplary embodiments provides those skilled in the art with an enabling description for implementing one or more exemplary embodiments. Contemplated are various changes that may be made in the function and arrangement of elements without departing from the spirit and scope of the disclosed subject matter as set forth in the claims.

[0086] In the following description, specific details are given for a thorough understanding of the embodiments. However, those skilled in the art can understand that the embodiments may be practiced without these specific details. For example, systems, processes, and other elements in the disclosed subject matter may be shown as components in block diagram form so as not to obscure the embodiments in unnecessary detail. In other examples, well-known processes, structures, and techniques may be shown without unnecessary detail so as to avoid obscuring the embodiments. Additionally, like reference numbers and names in the various drawings indicate like elements.

[0087] Also, particular embodiments may be described as a process that is depicted as a flowchart, a flow diagram, a data flow diagram, a structure diagram, or a block diagram. Although a flowchart may describe operations as a sequential process, many of the operations may be performed in parallel or simultaneously. In addition, the order of operations may be rearranged. A process may be terminated when its operations are completed, but may have additional steps not discussed or included in the diagram. Moreover, not all operations in any process specifically described may occur in all embodiments. A process may correspond to a method, a function, a procedure, a subroutine, a subprogram, etc. When a process corresponds to a function, the end of the function may correspond to a return to the calling function or the main function of the function.

[0088] Furthermore, embodiments of the disclosed subject matter may be implemented, at least in part, either manually or automatically. The manual or automatic implementation may be performed or at least assisted through the use of a machine, hardware, software, firmware, middleware, microcode, hardware description languages, or any combination thereof. When implemented in software, firmware, middleware, or microcode, the program code or code segments to perform the necessary tasks may be stored in a machine-readable medium. The necessary tasks may be executed by a processor.

[0089] The various methods or processes outlined herein may be coded as software executable on one or more processors using any one of a variety of operating systems or platforms. In addition, such software may be written using any of a number of suitable programming languages ​​and / or programming or scripting tools, and may be compiled as executable machine language code or intermediate code that runs on a framework or virtual machine. Typically, the functionality of the program modules may be combined or distributed as desired in various embodiments.

[0090] The embodiments of the present disclosure may be embodied as a method, of which an example has been provided. The acts performed as part of the method may be ordered in any suitable manner. Thus, embodiments may be constructed in which acts are performed in an order different from that illustrated, which may include performing simultaneously some acts shown as sequential acts in the exemplary embodiment. Although the present disclosure has been described with reference to certain preferred embodiments, it will be understood that various other adaptations and modifications can be made within the spirit and scope of the present disclosure. It is therefore the object of the appended claims to cover all such variations and modifications that fall within the true spirit and scope of the present disclosure.

Claims

1. A motor assembly including a mover assembly configured to slide along magnets forming an inner wall of a stator during operation of the motor assembly; The mover assembly includes: a non-ferromagnetic core having an outer surface contour with at least two flat sections that lie in intersecting planes; at least two ferromagnetic laminate structures disposed on the at least two flat sections of the non-ferromagnetic core; each of the at least two ferromagnetic laminate structures includes a stack of ferromagnetic plates; each ferromagnetic plate in the stack is coated with a non-conductive coating; each of the at least two ferromagnetic laminate structures is disposed on a corresponding one of the at least two flat sections of the non-ferromagnetic core such that a side of each ferromagnetic plate is adjacent to the non-ferromagnetic core, whereby the ferromagnetic plates of the at least two ferromagnetic laminate structures lie on a plane intersecting the corresponding flat section of the non-ferromagnetic core; The mover assembly further comprises: a winding of wire wrapped around the at least two ferromagnetic laminations and the non-ferromagnetic core; the stator includes at least two interior walls, each wall including an array of magnets; the mover assembly is disposed within the stator such that the at least two ferromagnetic laminations and the windings around the at least two ferromagnetic laminations face the at least two inner walls of the stator; The at least two ferromagnetic laminated structures include a first portion facing the inner wall via the winding and a second portion facing the inner wall without the winding.

2. A motor assembly including a mover assembly configured to slide along magnets forming an inner wall of a stator during operation of the motor assembly; The mover assembly includes: a non-ferromagnetic core having an outer U-shaped profile with three flat sections; and three ferromagnetic laminations disposed on the three planar sections of the non-ferromagnetic core; each of the three ferromagnetic laminate structures includes a stack of ferromagnetic plates; each ferromagnetic plate in the stack is covered with a non-conductive coating, and each of the three ferromagnetic laminations is disposed on a corresponding one of the three flat sections of the non-ferromagnetic core with a side of each ferromagnetic plate adjacent the non-ferromagnetic core, whereby the ferromagnetic plates of the three ferromagnetic laminations lie on a plane that intersects the corresponding flat section of the non-ferromagnetic core; The mover assembly further comprises: a winding of wire wrapped around the three ferromagnetic laminations and the non-ferromagnetic core; The three ferromagnetic laminated structures include a first portion facing the inner wall via the winding, and a second portion facing the inner wall without the winding.

3. 3. The motor assembly according to claim 1, wherein the winding is positioned in a space defined by a surface of the first portion facing the inner wall and a side surface of the second portion.

4. 3. The motor assembly according to claim 1, wherein the first portions and the second portions of the mover assembly are arranged alternately in the sliding direction.

5. a first ferromagnetic laminate structure and a second ferromagnetic laminate structure are disposed on the first and second planar sections of the non-ferromagnetic core, respectively; the first planar section and the second planar section are parallel to each other and perpendicular to a third planar section of the non-ferromagnetic core; 3. The motor assembly of claim 2, wherein a third ferromagnetic lamination structure is disposed opposite the third flat section of the non-ferromagnetic core, the third ferromagnetic lamination structure being disposed using another non-ferromagnetic core having first and second protrusions that slide into corresponding first and second grooves of the non-ferromagnetic core such that the third ferromagnetic lamination structure is isolated from the first and second ferromagnetic lamination structures that are located on a plane that intersects the plane in which the third ferromagnetic lamination structure is located.

6. A motor assembly including a mover assembly configured to slide along magnets forming an inner wall of a stator during operation of the motor assembly; The mover assembly includes: a non-ferromagnetic core having an outer surface contour with at least two flat sections that lie in intersecting planes; at least two ferromagnetic laminate structures disposed on the at least two flat sections of the non-ferromagnetic core; each of the at least two ferromagnetic laminate structures includes a stack of ferromagnetic plates; each ferromagnetic plate in the stack is coated with a non-conductive coating; each of the at least two ferromagnetic laminate structures is disposed on a corresponding one of the at least two flat sections of the non-ferromagnetic core such that a side of each ferromagnetic plate is adjacent to the non-ferromagnetic core, whereby the ferromagnetic plates of the at least two ferromagnetic laminate structures lie on a plane intersecting the corresponding flat section of the non-ferromagnetic core; The mover assembly further comprises: a winding of wire wrapped around the at least two ferromagnetic laminations and the non-ferromagnetic core; the stator includes at least two interior walls, each wall including an array of magnets; the mover assembly is disposed within the stator such that the at least two ferromagnetic laminations and the windings around the at least two ferromagnetic laminations face the at least two inner walls of the stator; The at least two ferromagnetic laminate structures include an L-shaped structure having a first portion extending in the sliding direction and a second portion extending in the direction of the inner wall.

7. A motor assembly including a mover assembly configured to slide along magnets forming an inner wall of a stator during operation of the motor assembly; The mover assembly includes: a non-ferromagnetic core having an outer surface contour with at least three flat sections lying on intersecting planes; at least two ferromagnetic laminate structures disposed on at least two of the at least three planar sections of the non-ferromagnetic core; each of the at least two ferromagnetic laminate structures includes a stack of ferromagnetic plates; each ferromagnetic plate in the stack is coated with a non-conductive coating; each of the at least two ferromagnetic laminate structures is disposed on a corresponding one of the at least two flat sections of the non-ferromagnetic core such that a side of each ferromagnetic plate is adjacent to the non-ferromagnetic core, whereby the ferromagnetic plates of the at least two ferromagnetic laminate structures lie on a plane intersecting the corresponding flat section of the non-ferromagnetic core; The mover assembly further comprises: a winding of wire wrapped around the at least two ferromagnetic laminations and the non-ferromagnetic core; and at least one cable for transmitting a movement control signal to the mover assembly, the cable being arranged along an outer wall of the stator and connected to a portion of the mover assembly that protrudes from the inner wall side of the stator to the outside of the outer wall.

8. The motor assembly according to claim 1 , 2 , 5 to 7 , wherein the mover assembly is formed by connecting a plurality of mover assembly units.

9. 9. The motor assembly of claim 8, wherein the plurality of mover assembly units are stacked together to form the mover assembly with guide teeth and grooves on the ferromagnetic lamination structure of each mover assembly unit of the plurality of mover assembly units.

10. the flat section includes a groove for receiving the ferromagnetic laminate; A motor assembly as claimed in any preceding claim, wherein the ferromagnetic laminations slide into the grooves on the flat sections.

11. 8. The motor assembly of claim 1, 2, 5-7, wherein the magnets in the array of magnets in the stator include at least one of a Halbach permanent magnet or a Vernier permanent magnet.

12. 8. The motor assembly of claim 1, 2, 5 to 7, wherein the shape of the mover assembly corresponds to a polyhedron.

13. A system including a motor including the motor assembly of any one of claims 1, 2, 5 to 7, further comprising: a digital controller configured to generate control signals that specify values ​​of one or a combination of multi-phase voltages and multi-phase currents of the motor to track a reference trajectory of a torque of the motor; an inverter that supplies the multi-phase voltages and the multi-phase currents generated in accordance with the control signals to multi-phase windings of the motor to reduce an error between the reference trajectory and a measured torque of the motor.

14. The system of claim 13 further comprising a load positioned by the motor.

15. 8. A control system including a motor including the motor assembly of any one of claims 1, 2, 5 to 7, comprising: a conveyor belt operated by the motor and configured to transport one or more objects from one location to another; and a controller configured to control the motor to regulate a speed of the conveyor belt.

16. a motor assembly including a mover assembly configured to slide along an outer wall of a stator during operation of the motor assembly; the mover assembly includes a magnet on an inner wall of the mover assembly; The stator includes: a non-ferromagnetic core having an outer surface contour with at least two flat sections that lie in intersecting planes; at least two ferromagnetic laminate structures disposed on the at least two flat sections of the non-ferromagnetic core; each of the at least two ferromagnetic laminate structures includes a stack of ferromagnetic plates; each ferromagnetic plate in the stack is covered with a non-conductive coating, and each of the at least two ferromagnetic laminate structures is disposed on a corresponding one of the at least two flat sections of the non-ferromagnetic core such that a side of each ferromagnetic plate is adjacent to the non-ferromagnetic core, whereby the ferromagnetic plates of the at least two ferromagnetic laminate structures lie on a plane that intersects the corresponding flat section of the non-ferromagnetic core; The stator further comprises: a winding of wire wrapped around the at least two ferromagnetic laminations and the non-ferromagnetic core; the mover assembly includes at least two interior walls, each wall including an array of magnets; the stator is disposed within the mover assembly such that both the at least two ferromagnetic laminations and the windings around the at least two ferromagnetic laminations face the at least two inner walls of the stator; A motor assembly, wherein the at least two ferromagnetic laminated structures include a first portion facing the stator via the winding and a second portion facing the stator without the winding.

17. a motor assembly including a mover assembly configured to slide along an outer wall of a stator during operation of the motor assembly; the mover assembly includes a magnet on an inner wall of the mover assembly; The stator includes: a non-ferromagnetic core having an outer U-shaped profile with three flat sections lying on intersecting planes; and three ferromagnetic laminations disposed on the three planar sections of the non-ferromagnetic core; each of the three ferromagnetic laminate structures includes a stack of ferromagnetic plates; each ferromagnetic plate in the stack is covered with a non-conductive coating, and each of the three ferromagnetic laminations is disposed on a corresponding one of the three flat sections of the non-ferromagnetic core with a side of each ferromagnetic plate adjacent the non-ferromagnetic core, whereby the ferromagnetic plates of the three ferromagnetic laminations lie on a plane that intersects the corresponding flat section of the non-ferromagnetic core; The stator further comprises: a winding of wire wrapped around the three ferromagnetic laminations and the non-ferromagnetic core; The three ferromagnetic laminated structures include a first portion facing the stator via the winding and a second portion facing the stator without the winding.

18. a first ferromagnetic laminate structure and a second ferromagnetic laminate structure are disposed on the first and second planar sections of the non-ferromagnetic core, respectively; the first planar section and the second planar section are parallel to each other and perpendicular to a third planar section of the non-ferromagnetic core; a third ferromagnetic laminate disposed in the gap opposite the third flat section of the non-ferromagnetic core; 18. The motor assembly of claim 17, wherein the third ferromagnetic lamination structure is positioned using another non-ferromagnetic core having first and second protrusions that slide into corresponding first and second grooves of the non-ferromagnetic core such that the third ferromagnetic lamination structure is isolated from the first and second ferromagnetic lamination structures that lie on a plane that intersects a plane in which the third ferromagnetic lamination structure is located.

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