Magnetic-suspension bearingless electric motor capable of forward and reverse rotation, and device, control method and system

Abstract

Disclosed in the present invention are a magnetic-suspension bearingless electric motor capable of forward and reverse rotation, and a device, a control method and a system. The magnetic-suspension bearingless electric motor capable of forward and reverse rotation comprises a stator, a rotor, a position acquisition apparatus, a rotation control apparatus, a main control apparatus and a power amplification apparatus. On the basis of an angular position and a rotation control instruction, the main control apparatus selects a reference coil and controls, by means of the power amplification apparatus, a sequence in which coils, starting from the reference coil, on a plurality of stator teeth reach a peak value of a rotating current and the energization direction of the rotating current of the coil on each stator tooth, so as to control the rotation direction of the rotor; the main control apparatus controls, by means of the power amplification apparatus, a sequence in which the coils on the plurality of stator teeth reach a peak value of a suspension current and the energization direction of the suspension current of the coil on each stator tooth, so as to control the rotor to be suspended, and a suspension magnetic field generated by means of the suspension current rotates; and the rotation direction of a rotating magnetic field is the same as the rotation direction of the suspension magnetic field, and the rotation speed of the rotating magnetic field is different from the rotation speed of the suspended magnetic field.

Description

Forward and reverse magnetic levitation bearingless motor, equipment, control method and system Technical Field

[0001] At least one embodiment of the present disclosure relates to a forward and reverse magnetic levitation bearingless motor, a magnetic levitation device, a control method for a forward and reverse magnetic levitation bearingless motor, a forward and reverse magnetic levitation bearingless motor system, and a computer-readable storage medium. Background Art

[0002] The magnetic levitation bearingless motor, also known as the bearingless thin-film motor, uses bearingless technology to achieve active suspension of the rotor in rotation and radial direction, and uses magnetic resistance to achieve passive suspension of the rotor in three degrees of freedom in addition to the radial and rotational degrees of freedom. It has the characteristics of high axial utilization and superior performance, and has good application prospects in ultra-pure drive fields such as biochemistry, medical treatment, and semiconductor manufacturing.

[0003] Typically, a magnetically levitated bearingless motor includes a stator and a rotor. The rotor can be an integral rotor. For example, in a magnetically levitated pump, the rotor serves as both the rotor of the magnetically levitated motor and the rotor of the pump. The stator is designed to act as both a bearing and a driving stator, typically comprising a stator yoke, a number of stator teeth, and coils wound around the stator teeth. For example, in a magnetically levitated pump, the stator serves as both a rotationally driven stator and a magnetically levitated stator. The stator coils can generate a magnetic field, which, on the one hand, applies a torque to the rotor, thereby causing the rotor to rotate about the desired axis of rotation, and, on the other hand, applies a levitation force that can be applied to the rotor as needed, allowing the radial position of the rotor to be actively controlled or adjusted. Thus, three degrees of freedom of the rotor can be actively adjusted: its rotation and its radial position (two degrees of freedom). With respect to the other three degrees of freedom: the rotor's position in the axial direction and its tilt relative to a radial plane perpendicular to the desired axis of rotation (two degrees of freedom), the rotor is passively magnetically levitated or stabilized by magnetic resistance.

[0004] Summary of the Invention

[0005] The present disclosure provides a forward and reverse magnetic levitation bearingless motor, comprising: a stator, the stator comprising a plurality of stator teeth, each stator tooth being wound with a coil; a rotor, the stator being arranged around the rotor or the rotor being arranged around the stator, the rotor having a reference portion; a position acquisition device configured to acquire the angular position of the rotor's reference portion relative to the stator; a rotation control device configured to provide a rotation control instruction; a main control device and a power amplifier device, the main control device being connected to the position acquisition device, the rotation control device and the power amplifier device respectively, the power amplifier device being further electrically connected to the coil to pass a rotating current for controlling the rotation of the rotor and a suspension current for controlling the suspension of the rotor into the coil, wherein the main control device, the power amplifier device, the stator and the rotor are configured such that: based on the angular position and the rotation control instruction, the main control device selects a reference coil and controls, through the power amplifier device, the order in which the coils on the plurality of stator teeth reach a peak value of the rotating current starting from the reference coil, and the order in which the coils on the plurality of stator teeth reach a peak value of the rotating current, as well as the order in which the coils on the plurality of stator teeth reach a peak value of the rotating current, starting from the reference coil. The main control device, the power amplifier device, the stator and the rotor are further configured as follows: the main control device controls the order in which the coils on the multiple stator teeth reach the peak value of the suspension current and the suspension current conduction direction of the coil on each stator tooth through the power amplifier device, thereby controlling the suspension of the rotor, during which the suspension magnetic field generated by the suspension current rotates; and the rotation direction of the rotating magnetic field is the same as the rotation direction of the suspension magnetic field, and the rotation speed of the rotating magnetic field is different from the rotation speed of the suspension magnetic field.

[0006] For example, the rotor is a permanent magnet rotor having magnetic poles, the magnetic poles being the reference portion of the rotor; the angular position of the reference coil relative to the stator differs from the angular position of the reference portion relative to the stator by an angle.

[0007] For example, the rotation control instruction is a clockwise rotation control instruction. In this case, the reference coil is located on the left side of the reference part in the clockwise direction, and the coils on the multiple stator teeth starting from the reference coil successively reach the peak value of the rotation current in the clockwise direction and control the direction of the rotating current to apply magnetic force to the reference part in the clockwise direction, thereby driving the rotor to rotate clockwise; or, the rotation control instruction is a counterclockwise rotation control instruction. In this case, the reference coil is located on the right side of the reference part in the counterclockwise direction, and the coils on the multiple stator teeth starting from the reference coil successively reach the peak value of the rotation current in the counterclockwise direction and control the direction of the rotating current to apply magnetic force to the reference part in the counterclockwise direction, thereby driving the rotor to rotate counterclockwise.

[0008] For example, the angular position of the reference coil relative to the stator and the angular position of the reference portion relative to the stator differ by an angle of 90 degrees.

[0009] For example, the rotor is a magnetically conductive rotor and includes a plurality of protrusions protruding toward the stator, one of the plurality of protrusions being a reference portion of the rotor; an angular position of the reference coil relative to the stator differs from an angular position of the reference portion relative to the stator by an angle.

[0010] For example, the rotation control instruction is a clockwise rotation control instruction. In this case, the reference coil is located on the right side of the reference part in the clockwise direction, and the coils on the multiple stator teeth starting from the reference coil successively reach the peak value of the rotation current in the clockwise direction and control the direction of the rotating current power-on to apply magnetic force to the reference part in the clockwise direction, thereby driving the rotor to rotate clockwise; or, the rotation control instruction is a counterclockwise rotation control instruction. In this case, the reference coil is located on the left side of the reference part in the counterclockwise direction, and the coils on the multiple stator teeth starting from the reference coil successively reach the peak value of the rotation current in the counterclockwise direction and control the direction of the rotating current power-on to apply magnetic force to the reference part in the counterclockwise direction, thereby driving the rotor to rotate counterclockwise.

[0011] For example, the position acquisition device includes a Hall sensor.

[0012] For example, for each of the multiple stator teeth, there is only one coil wound thereon; the power amplification device is a half-bridge power topology circuit and passes a superimposed current into the coil, and the superimposed current includes a rotating current component and a floating current component. The rotating current component is used as the rotating current, and the floating current component is used as the floating current.

[0013] For example, for each of the multiple stator teeth, the coil wound thereon includes a rotating coil and a suspension coil that are insulated from each other; the power amplification device includes a first power amplification circuit and a second power amplification circuit; the first power amplification circuit is electrically connected to the rotating coil to pass a rotating current that controls the rotation of the rotor into the rotating coil; the second power amplification circuit is electrically connected to the suspension coil to pass a suspension current that controls the suspension of the rotor into the suspension coil.

[0014] For example, the rotating current is configured to construct a Pt-pole rotating magnetic field, and the levitation current is configured to construct a Ps-pole levitation magnetic field, where Pt is the number of poles of the rotating magnetic field, and Ps is the number of poles of the levitation magnetic field, and Ps=Pt+2 or Ps=Pt-2 is satisfied; the rotating current passed through the coil on each stator tooth is a first cosine current or a first sinusoidal current, and the phases of the first cosine current or the first sinusoidal current passed through the coils on multiple stator teeth differ by 360Mt / (2N+2) degrees respectively; the levitation current passed through the coil on each stator tooth is a second cosine current or a second sinusoidal current, and the phases of the second cosine current or the second sinusoidal current passed through the coils on multiple stator teeth differ by 360Ms / (2N+2) degrees respectively. When the rotor rotates one circle in space, the first cosine current or the first sinusoidal current completes Mt complete cycle changes, and the second cosine current or the second sinusoidal current completes Ms complete cycle changes, wherein Pt=2Mt and Ps=2Ms.

[0015] For example, when Ps=Pt+2, the rotation speed of the rotating magnetic field is greater than the rotation speed of the suspension magnetic field; when Ps=Pt-2, the rotation speed of the rotating magnetic field is less than the rotation speed of the suspension magnetic field.

[0016] For example, when Ps=Pt+2, the ratio of the rotation speed of the rotating magnetic field to the rotation speed of the suspension magnetic field is (Mt+1) / Mt; when Ps=Pt-2, the ratio of the rotation speed of the rotating magnetic field to the rotation speed of the suspension magnetic field is (Mt-1) / Mt.

[0017] For example, according to an embodiment of the present disclosure, the forward and reverse magnetic levitation bearingless motor also includes a mode control device, which is connected to the main control device and is configured to control the forward and reverse magnetic levitation bearingless motor to switch between a first mode and a second mode; in the first mode, the forward and reverse magnetic levitation bearingless motor only rotates clockwise or only rotates counterclockwise; in the second mode, the forward and reverse magnetic levitation bearingless motor can switch between clockwise rotation and counterclockwise rotation.

[0018] According to an embodiment of the present disclosure, a control method for a forward and reverse magnetic levitation bearingless motor is also provided, wherein the forward and reverse magnetic levitation bearingless motor includes: a stator, the stator includes a plurality of stator teeth, each stator tooth is wound with a coil; and a rotor, the stator is arranged around the rotor or the rotor is arranged around the stator, a rotating current for controlling the rotation of the rotor and a levitation current for controlling the levitation of the rotor are passed through the coil, the rotor has a reference part, and the control method includes: obtaining a rotation control instruction, obtaining the angular position of the reference part of the rotor relative to the stator; based on the angular position and the rotation control instruction, selecting the reference coil and The order in which the coils on the multiple stator teeth reach the peak value of the rotating current starting from the reference coil and the direction in which the rotating current of the coil on each stator tooth is energized are controlled, thereby controlling the rotation direction of the rotor. During this process, the rotating magnetic field generated by the rotating current rotates. At the same time, the order in which the coils on the multiple stator teeth reach the peak value of the suspension current and the direction in which the suspension current of the coil on each stator tooth is energized are controlled, thereby controlling the suspension of the rotor. During this process, the suspension magnetic field generated by the suspension current rotates, and the rotation direction of the rotating magnetic field is the same as the rotation direction of the suspension magnetic field, and the rotation speed of the rotating magnetic field is different from the rotation speed of the suspension magnetic field.

[0019] According to an embodiment of the present disclosure, a forward and reverse magnetic levitation bearingless motor system is also provided, comprising: a processor; a memory comprising one or more computer program modules; wherein the one or more computer program modules are stored in the memory and configured to be executed by the processor, and the one or more computer program modules include instructions for implementing the control method described above.

[0020] According to an embodiment of the present disclosure, a computer-readable storage medium is further provided, which stores non-transitory computer-readable instructions. When the non-transitory computer-readable instructions are executed by a computer, the control method described above can be implemented.

[0021] According to an embodiment of the present disclosure, a magnetic levitation device is also provided, wherein the magnetic levitation device is configured as a magnetic levitation pump, the magnetic levitation pump includes the forward and reverse magnetic levitation bearingless motor as described above, and also includes a pump casing and a rotor impeller arranged in the pump casing, the rotor impeller includes the rotor; or, the magnetic levitation device is configured as a magnetic levitation stirring device, the magnetic levitation stirring device includes the forward and reverse magnetic levitation bearingless motor as described above, and also includes a stirring container and a rotor stirring head arranged in the stirring container, the rotor stirring head includes the rotor; or, the magnetic levitation device is configured as a magnetic levitation turntable, the magnetic levitation turntable includes the forward and reverse magnetic levitation bearingless motor as described above, and also includes a rotor support platform, the rotor support platform includes the rotor. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings of the embodiments of the present disclosure. Obviously, the drawings described below only relate to some embodiments of the present disclosure and are not intended to limit the present disclosure.

[0023] FIG1 is a schematic diagram of a frame of a forward and reverse magnetic levitation bearingless motor according to an embodiment of the present disclosure;

[0024] FIG2A is a plan view of a stator and a rotor of a forward and reverse magnetic levitation bearingless motor according to an embodiment of the present disclosure;

[0025] FIG2B is a second plan view of the stator and rotor of the forward and reverse magnetic levitation bearingless motor according to an embodiment of the present disclosure;

[0026] FIG3A is a third plan view of the stator and rotor of a forward and reverse magnetic levitation bearingless motor according to an embodiment of the present disclosure;

[0027] FIG3B is a fourth plan view of the stator and rotor of the forward and reverse magnetic levitation bearingless motor according to an embodiment of the present disclosure;

[0028] FIG4 is a second schematic diagram of the framework of a forward and reverse magnetic levitation bearingless motor according to an embodiment of the present disclosure;

[0029] FIG5 is a third schematic diagram of the framework of a forward and reverse magnetic levitation bearingless motor according to an embodiment of the present disclosure;

[0030] 6 is a schematic diagram of the rotation of the rotor, the rotating magnetic field, and the levitation magnetic field of a forward and reverse magnetic levitation bearingless motor according to an embodiment of the present disclosure;

[0031] FIG7 is a fourth schematic diagram of the framework of a forward and reverse magnetic levitation bearingless motor according to an embodiment of the present disclosure;

[0032] FIG8 is a flow chart of a control method for a forward and reverse magnetically suspended bearingless motor according to an embodiment of the present disclosure;

[0033] FIG9 is a first schematic diagram of a framework of a forward and reverse magnetic levitation bearingless motor system according to an embodiment of the present disclosure;

[0034] FIG10 is a second schematic diagram of the framework of the forward and reverse magnetic levitation bearingless motor system according to an embodiment of the present disclosure;

[0035] FIG11 is a schematic diagram of a computer-readable storage medium according to an embodiment of the present disclosure;

[0036] FIG12 is a first structural diagram of a magnetic levitation device configured as a magnetic levitation pump according to an embodiment of the present disclosure;

[0037] FIG13 is a second structural diagram of a magnetic levitation device configured as a magnetic levitation pump according to an embodiment of the present disclosure;

[0038] FIG14 is a first structural diagram of a magnetic levitation device configured as a magnetic levitation stirring device according to an embodiment of the present disclosure;

[0039] FIG15 is a second structural diagram of a magnetic levitation device configured as a magnetic levitation stirring device according to an embodiment of the present disclosure;

[0040] FIG16 is a third structural diagram of a magnetic levitation device configured as a magnetic levitation stirring device according to an embodiment of the present disclosure;

[0041] FIG17 is a first structural diagram of a magnetic levitation device configured as a magnetic levitation turntable according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0042] To make the purpose, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0043] Unless otherwise defined, the technical or scientific terms used herein shall have the usual meanings understood by persons of ordinary skill in the field to which the present disclosure belongs. The words "first", "second" and similar terms used in the patent application specification and claims of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "include" or "comprise" mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Inside", "outside", "upper", "lower" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0044] The drawings in this disclosure are not drawn strictly to scale, and the specific size and quantity of each structure can be determined according to actual needs. The drawings described in this disclosure are only schematic diagrams of the structures.

[0045] Magnetic levitation bearingless motors, with their high axial utilization and superior performance, hold great promise for applications in ultra-pure drive applications such as biochemistry, medicine, and semiconductor manufacturing. However, current magnetic levitation bearingless motors lack the flexibility to easily and flexibly select rotational direction. They typically rotate in a single, fixed direction, lacking the ability to switch between counterclockwise and clockwise rotation, or to achieve forward and reverse rotation.

[0046] According to an embodiment of the present disclosure, a forward-reversing magnetic levitation bearingless motor is provided. FIG1 is a schematic diagram of a frame of a forward-reversing magnetic levitation bearingless motor according to an embodiment of the present disclosure; FIG2A, FIG2B, FIG3A, and FIG3B are schematic plan views of the stator and rotor of the forward-reversing magnetic levitation bearingless motor, respectively, according to an embodiment of the present disclosure. 1 and 2A, 2B, 3A and 3B, a forward and reverse magnetic levitation bearingless motor according to an embodiment of the present disclosure includes: a stator 1, wherein the stator 1 includes a plurality of stator teeth 1t, each stator tooth 1t being wound with a coil; a rotor 2, wherein the stator 1 is arranged around the rotor 2 or the rotor 2 is arranged around the stator 1, and the rotor 2 has a reference portion; a position acquisition device, configured to acquire an angular position α of the reference portion of the rotor 2 relative to the stator 1; a rotation control device, configured to provide a rotation control instruction; a main control device and a power amplifier device, wherein the main control device is connected to the position acquisition device, the rotation control device and the power amplifier device respectively, and the power amplifier device is also electrically connected to the coil to pass a rotating current for controlling the rotation of the rotor 2 and a suspension current for controlling the suspension of the rotor 2 into the coil, wherein the main control device, the power amplifier device, the stator 1 and the rotor 2 are configured as follows: : Based on the angular position α and the rotation control instruction, the main control device selects a reference coil and controls the order in which the coils on multiple stator teeth 1t reach the peak value of the rotating current starting from the reference coil and the direction of the rotating current energization of the coil on each stator tooth 1t through the power amplifier, thereby controlling the rotation direction of the rotor 2. During this process, the rotating magnetic field generated by the rotating current rotates; the main control device, the power amplifier, the stator and the rotor are also configured as follows: the main control device controls the order in which the coils on multiple stator teeth 1t reach the peak value of the suspension current and the direction of the suspension current energization of the coil on each stator tooth 1t through the power amplifier, thereby controlling the suspension of the rotor 2. During this process, the suspension magnetic field generated by the suspension current rotates; and the rotation direction of the rotating magnetic field is the same as the rotation direction of the suspension magnetic field, and the rotation speed of the rotating magnetic field is different from the rotation speed of the suspension magnetic field.

[0047] For ease of illustration, all figures illustrate a configuration in which the stator 1 surrounds the rotor 2. However, the description of the embodiments of the present disclosure also applies to the configuration in which the rotor 2 surrounds the stator 1. For example, the stator 1 and rotor 2 are spaced apart from each other. Specifically, when the rotor 2 is stably suspended and rotating, the stator 1 and rotor 2 are spaced apart so that they do not contact each other, thereby preventing problems such as heat and contamination caused by mechanical friction. For example, multiple stator teeth 1t protrude toward the rotor 2.

[0048] For example, the stator 1 is formed of a magnetic material; further, for example, the magnetic material is a ferromagnetic material; further, for example, the ferromagnetic material is a soft magnetic material with a magnetic permeability much greater than the magnetic permeability of a vacuum, examples of which include but are not limited to iron, cobalt, nickel, and their alloys, carbon steel, silicon steel, and electrical pure iron. For example, the rotor 2 is a permanent magnet rotor; in this case, the rotor 2 is made of a permanent magnet material, examples of which include but are not limited to samarium cobalt, neodymium iron boron, and ferrite. For example, the rotor 2 is a magnetically permeable rotor; in this case, the rotor 2 is formed of a magnetic material, examples of which include but are not limited to iron, cobalt, nickel, and their alloys, carbon steel, silicon steel, and electrical pure iron.

[0049] For example, the position acquisition device can acquire the angular position of the reference portion of the rotor 2 relative to the stator 1 through detection and analysis. For example, the position acquisition device can include a Hall sensor. The position acquisition device acquires the angular position α of the reference portion of the rotor 2 relative to the stator 1, which is equivalent to determining the circumferential position of the reference portion of the rotor 2. The reference coil is then selected from the coils on the stator teeth 1t using the reference portion of the rotor 2 as a reference position.

[0050] For example, the rotation control instruction is a clockwise rotation control instruction, instructing the rotor 2 to rotate in the clockwise direction; or the rotation control instruction is a counterclockwise rotation control instruction, instructing the rotor 2 to rotate in the counterclockwise direction. For example, the rotation control device is a device that can be manipulated by the user (for example, a dial button); in this case, for example, when the user performs a first manipulation action on the rotation control device, the rotation control device provides a clockwise rotation control instruction to the main control device; when the user performs a second manipulation action on the rotation control device, the rotation control device provides a counterclockwise rotation control instruction to the main control device. For example, the rotation control device is a rotation control circuit; in this case, for example, at time n×T+t1, the rotation control circuit provides a clockwise rotation control instruction to the main control device; at time n×T+t2, the rotation control circuit provides a counterclockwise rotation control instruction to the main control device, where n is an integer greater than or equal to 0, and T is the duration of one cycle of the rotation control circuit.

[0051] For example, the main control device and the power amplifier device can be a main control circuit and a power amplifier circuit, respectively. The main control device is connected to the position acquisition device, the rotation control device, and the power amplifier device, respectively. This connection can be direct or indirect, and can be wired or wireless. As long as the angular position acquired by the position acquisition device and the rotation control instructions provided by the rotation control device are acceptable to the main control device, and the control instructions issued by the main control device are acceptable to the power amplifier device, the power amplifier device is electrically connected to the coil wound around the stator tooth 1t to pass current into the coil. This current includes a rotational current for controlling the rotation of the rotor 2 and a levitation current for controlling the levitation of the rotor 2.

[0052] According to an embodiment of the present disclosure, after the main control device receives the angular position obtained by the position acquisition device and the rotation control instruction provided by the rotation control device, the main control device selects a reference coil from the coils on the multiple stator teeth 1t based on the angular position and the rotation control instruction, and controls the order in which the rotation currents of the coils on the multiple stator teeth 1t reach the peak value starting from the reference coil and the direction of the rotation current of the coil on each stator tooth 1t through the power amplifier device, thereby achieving control of the rotation direction of the rotor 2, so that the rotor 2 rotates clockwise or counterclockwise as needed, and the rotor 2 switches between clockwise and counterclockwise rotation as needed. That is, the forward and reverse rotation function of the magnetic levitation bearingless motor is realized. For example, clockwise rotation is designated as forward rotation, and counterclockwise rotation is designated as reverse rotation. For example, clockwise rotation is designated as reverse rotation, and counterclockwise rotation is designated as forward rotation. Therefore, the magnetic levitation bearingless motor according to the embodiment of the present disclosure can simply and flexibly select the rotation direction according to needs. It can choose to start counterclockwise or clockwise as needed, and can also switch between counterclockwise and clockwise rotation as needed.

[0053] It should be noted that when the main control device controls the order in which the coils on multiple stator teeth 1t reach the peak value of the rotating current starting from the reference coil through the power amplifier device, the rotating current is simultaneously applied to the coils on the multiple stator teeth 1t, but the rotating current applied to the coils on the multiple stator teeth 1t does not reach the peak value at the same time, but reaches the peak value sequentially over time.

[0054] The magnetic levitation bearingless motor must take into account both the stable rotation and stable suspension of the rotor 2. The rotating current generates a rotating magnetic field, and the suspension current generates a suspension magnetic field. The rotating magnetic field and the suspension magnetic field are superimposed on each other and matched with each other to achieve both the stable rotation and stable suspension of the rotor 2. For example, the rotating magnetic field is used to construct a balanced distribution of magnetic fields. When the suspension magnetic field is superimposed on the rotating magnetic field, the symmetrical distribution of the original magnetic field is broken. For example, after the magnetic fields are superimposed, the magnetic field on one side is weakened, while the magnetic pole on the opposite side is strengthened, thereby generating a radial suspension force to control the rotor. To this end, the rotating magnetic field and the suspension magnetic field need to satisfy Ps=Pt+2 or Ps=Pt-2, where Pt is the number of poles of the rotating magnetic field and Ps is the number of poles of the suspension magnetic field. According to the process described above, the rotating current flowing through the coils on the multiple stator teeth 1t sequentially reaches its peak value over time, causing the rotating magnetic field generated by the rotating current to rotate (specifically, the direction of rotation of the rotating magnetic field is the same as the direction of rotation of the rotor 2). In this case, the levitation magnetic field generated by the levitation current must also be controlled to rotate, and the direction of rotation of the rotating magnetic field must be the same as the direction of rotation of the levitation magnetic field. This is to ensure that the levitation magnetic field and the rotating magnetic field are always matched, the levitation force remains constant, and stable rotation and levitation of the rotor 2 are achieved. If the levitation magnetic field remains stationary and does not rotate, the radial levitation force applied to the rotor 2 will no longer be constant as the rotating magnetic field and rotor 2 rotate, causing the levitation of the rotor 2 to become unstable, or even to cease levitation, and the magnetic levitation bearingless motor will fail. Therefore, according to an embodiment of the present disclosure, the main control device, power amplifier device, stator, and rotor are further configured such that: the main control device controls the order in which the coils on the multiple stator teeth 1t reach the peak value of the levitation current, as well as the direction of the levitation current flowing through the coils on each stator tooth 1t, through the power amplifier device, thereby controlling the rotor levitation. During this process, the levitation magnetic field generated by the levitation current rotates, and the rotation direction of the rotating magnetic field is the same as the rotation direction of the levitation magnetic field, and the rotation speed of the rotating magnetic field is different from the rotation speed of the levitation magnetic field. In other words, by controlling the order in which the coils on the multiple stator teeth 1t reach the peak value of the levitation current, as well as the direction of the levitation current flowing through the coils on each stator tooth 1t, the levitation magnetic field can also rotate, and the rotation direction of the rotating magnetic field is the same as the rotation direction of the levitation magnetic field. Furthermore, since Ps = Pt + 2 or Ps = Pt - 2, Ps is not equal to Pt, and thus the rotation speed of the rotating magnetic field must be different from the rotation speed of the levitation magnetic field to ensure that the rotating magnetic field and the levitation magnetic field match each other. According to the embodiment of the present disclosure, the magnetic levitation bearingless motor can simply and flexibly select the rotation direction according to needs; under this premise, the magnetic levitation bearingless motor according to the embodiment of the present disclosure can also well balance the stable rotation and stable suspension of the rotor 2, and has excellent performance.

[0055] It should be noted that when the master control device controls the order in which the coils on the multiple stator teeth 1 t reach the peak value of the suspension current through the power amplifier device, the suspension current is simultaneously applied to the coils on the multiple stator teeth 1 t. However, the suspension current applied to the coils on the multiple stator teeth 1 t does not reach the peak value simultaneously, but rather reaches the peak value sequentially over time.

[0056] For example, referring to Figures 2A and 2B , according to an embodiment of the present disclosure, the rotor 2 is a permanent magnet rotor and has magnetic poles, which serve as the reference portion of the rotor 2. The angular position of the reference coil relative to the stator 1 differs from the angular position of the reference portion relative to the stator 1 by an angle. For example, the magnetic poles of the permanent magnet rotor 2 include north and south poles, and either of the north and south poles can be used as the reference portion of the rotor 2. As an example, in Figures 2A and 2B , the present disclosure is described using the north pole of the rotor 2 as the reference portion. For example, the rotating current flowing through the reference coil reaches its peak value first. This peak rotating current generates a rotating magnetic field, which applies a magnetic force to the reference portion of the rotor 2 to drive the rotor 2 to begin rotating. Therefore, in order to effectively apply the magnetic force to the reference portion of the rotor 2 to achieve the purpose of driving the rotor 2 to begin rotating, the reference coil and the reference portion of the rotor 2 need to differ by an angle in the circumferential direction. That is, the angular position of the reference coil relative to the stator 1 differs from the angular position of the reference portion relative to the stator 1 by an angle. For example, the difference between the angular position of the reference coil relative to the stator 1 and the angular position of the reference portion relative to the stator 1 is less than or equal to 90 degrees. Preferably, the difference between the angular position of the reference coil relative to the stator 1 and the angular position of the reference portion relative to the stator 1 is 90 degrees. For example, in FIG2A , the reference coil is coil 11 ; in FIG2B , the reference coil is coil 15 .

[0057] For example, according to an embodiment of the present disclosure, the rotation control instruction is a clockwise rotation control instruction. In this case, the reference coil is located on the left side of the reference portion of the rotor 2 in the clockwise direction. Starting from the reference coil, the coils on multiple stator teeth 1t reach the peak of the rotating current in sequence in the clockwise direction and control the direction of the rotating current to apply magnetic force (for example, repulsive force) to the reference portion of the rotor 2 in sequence in the clockwise direction, thereby driving the rotor 2 to rotate clockwise. As an example, referring to FIG2A , with the N pole of the rotor 2 as the reference portion, the rotation control instruction is a clockwise rotation control instruction to instruct the rotor 2 to rotate in the clockwise direction. The stator 1 has eight stator teeth 1t, and the coils wound on the eight stator teeth 1t are coil 11, coil 12, coil 13, coil 14, coil 15, coil 16, coil 17, and coil 18. In this case, with the coil 11 located on the left side of the reference portion (for example, the N pole) of the rotor 2 in the clockwise direction as the reference coil, the coils 11, coil 12, coil 13, coil 14, coil 15, coil 16, coil 17, and coil 18 are simultaneously supplied with a rotating current, and with the reference coil 11 as the starting point, the coils 11 and 12 rotate in the clockwise direction. 1. The rotating current flowing through coils 12, 13, 14, 15, 16, 17, and 18 reaches a peak value sequentially over time. At the same time, the direction of the rotating current flowing through each coil is controlled so that when the rotating current reaches a peak value, the north pole of the magnetic field generated by each of coils 11, 12, 13, 14, 15, 16, 17, and 18 faces the rotor 2 to repel the north pole of the reference portion of the rotor 2. As a result, coils 11, 12, 13, 14, 15, 16, 17, and 18 sequentially apply a magnetic force (e.g., a repulsive force) to the north pole of the reference portion of the rotor 2 in the clockwise direction over time, driving the rotor 2 to rotate clockwise. It should be noted that FIG2A is a schematic plan view of the stator 1 and rotor 2 when reference coil 11 reaches the peak of its rotating current. At this point, rotating current is simultaneously applied to coils 11 through 18, and reference coil 11 reaches its peak. By controlling the direction of the rotating current, the north pole of the magnetic field generated by reference coil 11 is directed toward rotor 2, repelling the north pole of the reference portion of rotor 2. Reference coil 11 then drives rotor 2 to begin rotating. Subsequently, although not shown, as rotor 2 rotates, coil 12 reaches its peak of rotating current and applies a magnetic force (e.g., a repulsive force) to the north pole of the reference portion of rotor 2, driving rotor 2 to continue rotating clockwise. Similarly, coils 13, 14, 15, 16, 17, and 18 sequentially reach their peak of rotating current over time and apply a magnetic force (e.g., a repulsive force) to the north pole of the reference portion of rotor 2, driving rotor 2 to continue rotating clockwise.

[0058] For example, according to an embodiment of the present disclosure, the rotation control instruction is a counterclockwise rotation control instruction. In this case, the reference coil is located on the right side of the reference part of the rotor 2 in the counterclockwise direction. Starting from the reference coil, the coils on multiple stator teeth 1t reach the peak of the rotation current in turn in the counterclockwise direction and control the direction of the rotation current to apply magnetic force (for example, repulsive force) to the reference part of the rotor 2 in the counterclockwise direction, thereby driving the rotor 2 to rotate counterclockwise. As an example, referring to FIG2B , with the N pole of the rotor 2 as the reference portion, the rotation control instruction is a counterclockwise rotation control instruction to instruct the rotor 2 to rotate in the counterclockwise direction. The stator 1 has eight stator teeth 1t, and the coils wound on the eight stator teeth 1t are coil 11, coil 12, coil 13, coil 14, coil 15, coil 16, coil 17, and coil 18. In this case, the coil 15 located on the right side of the reference portion (for example, the N pole) of the rotor 2 in the counterclockwise direction is used as the reference coil. The coils 15, coil 14, coil 13, coil 12, coil 11, coil 18, coil 17, and coil 16 are simultaneously supplied with a rotating current, and the coil 1 is rotated in the counterclockwise direction with the reference coil 15 as the starting point. 5. The rotating current flowing through coils 14, 13, 12, 11, 18, 17, and 16 reaches a peak value sequentially over time. At the same time, the direction of the rotating current flowing through each coil is controlled so that when the rotating current reaches a peak value, the north pole of the magnetic field generated by each of coils 15, 14, 13, 12, 11, 18, 17, and 16 is directed toward rotor 2 to repel the north pole of the reference portion of rotor 2. As a result, coils 15, 14, 13, 12, 11, 18, 17, and 16 sequentially apply a magnetic force (e.g., a repulsive force) to the north pole of the reference portion of rotor 2 in the counterclockwise direction over time, driving rotor 2 to rotate counterclockwise. It should be noted that FIG2B is a schematic plan view of stator 1 and rotor 2 when reference coil 15 reaches the peak of its rotating current. At this point, rotating current is simultaneously applied to coils 11 through 18, and reference coil 15 reaches its peak. By controlling the direction of the rotating current, the north pole of the magnetic field generated by reference coil 15 is directed toward rotor 2, repelling the north pole of the reference portion of rotor 2. Reference coil 15 then drives rotor 2 to begin rotating. Subsequently, although not shown, as rotor 2 rotates, coil 14 reaches its peak of rotating current and applies a magnetic force (e.g., a repulsive force) to the north pole of the reference portion of rotor 2, driving rotor 2 to continue rotating counterclockwise. Similarly, coils 13, 12, 11, 18, 17, and 16 sequentially reach their peak of rotating current over time and apply a magnetic force (e.g., a repulsive force) to the north pole of the reference portion of rotor 2, driving rotor 2 to continue rotating counterclockwise.

[0059] For example, referring to Figures 3A and 3B , according to an embodiment of the present disclosure, the rotor 2 is a magnetically permeable rotor and includes multiple protrusions 2p protruding toward the stator 1, one of which serves as a reference portion of the rotor 2. The angular position of the reference coil relative to the stator 1 differs from the angular position of the reference portion relative to the stator 1 by an angle. As an example, Figures 3A and 3B illustrate that the rotor 2 includes four protrusions 2p. It should be noted that any one of the multiple protrusions 2p can serve as the reference portion of the rotor 2. As an example, in Figures 3A and 3B , the upper left protrusion 2p serves as the reference portion of the rotor 2. For example, the rotating current flowing through the reference coil reaches its peak value first. This peak rotating current generates a rotating magnetic field, which applies a magnetic force to the reference portion of rotor 2, driving rotor 2 to begin rotation. Therefore, in order to effectively apply the magnetic force to the reference portion of rotor 2 to achieve the purpose of driving rotor 2 to begin rotation, the reference coil and the reference portion of rotor 2 need to differ by an angle in the circumferential direction. That is, the angular position of the reference coil relative to stator 1 and the angular position of the reference portion relative to stator 1 differ by an angle. For example, the angle difference between the angular position of the reference coil relative to stator 1 and the angular position of the reference portion relative to stator 1 is less than or equal to 90 degrees. Preferably, under the premise that the angular position of the reference coil relative to stator 1 and the angular position of the reference portion relative to stator 1 differ by an angle, the coil closest to the reference portion of rotor 2 is used as the reference coil. For example, in Figure 3A, the reference coil is coil 13; in Figure 3B, the reference coil is coil 11.

[0060] For example, according to an embodiment of the present disclosure, the rotation control instruction is a clockwise rotation control instruction. In this case, the reference coil is located on the right side of the reference part of the rotor 2 in the clockwise direction. Starting from the reference coil, the coils on multiple stator teeth 1t reach the peak of the rotation current in sequence in the clockwise direction and control the direction of the rotation current to apply magnetic force (for example, attraction) to the reference part of the rotor 2 in sequence in the clockwise direction, thereby driving the rotor 2 to rotate clockwise. As an example, referring to FIG3A , with the upper left protrusion 2p of the rotor 2 as the reference portion, the rotation control instruction is a clockwise rotation control instruction to instruct the rotor 2 to rotate in the clockwise direction, the stator 1 has eight stator teeth 1t, and the coils wound on the eight stator teeth 1t are coils 11, 12, 13, 14, 15, 16, 17, and 18; in this case, with the coil 13 located on the right side of the reference portion (e.g., the upper left protrusion 2p) of the rotor 2 in the clockwise direction as the reference coil, the coils 11, 12, 13, 14, 15, 16, 17, and 18 are simultaneously supplied with a rotating current, and the reference coil 13 is used as the starting point to rotate in the clockwise direction. The rotating current flowing through coils 13, 14, 15, 16, 17, 18, 11, and 12 in the direction reaches a peak value in sequence over time. At the same time, the direction of the rotating current flowing through each coil is controlled so that when the rotating current reaches the peak value, the north pole or south pole of the magnetic field generated by each of coils 13, 14, 15, 16, 17, 18, 11, and 12 is directed toward the rotor 2 to attract the reference portion of the rotor 2, so that the coils 13, 14, 15, 16, 17, 18, 11, and 12 sequentially apply magnetic force (for example, attraction) to the reference portion of the rotor 2 in the clockwise direction over time, driving the rotor 2 to rotate clockwise. It should be noted that Figure 3A is a schematic plan view of stator 1 and rotor 2 when reference coil 13 reaches its peak rotational current. At this point, coils 11 through 18 are simultaneously supplied with rotational current, and reference coil 13 reaches its peak rotational current. By controlling the direction of the rotating current, the north or south pole of the magnetic field generated by reference coil 13 is directed toward rotor 2, thereby attracting the reference portion of rotor 2. Reference coil 13 then drives rotor 2 to begin rotating. Subsequently, although not shown, as rotor 2 rotates, coil 14 reaches its peak rotational current and applies a magnetic force (e.g., an attractive force) to the reference portion of rotor 2, driving rotor 2 to continue rotating clockwise. Similarly, coils 15, 16, 17, 18, 11, and 12 sequentially reach their peak rotational currents over time and apply magnetic forces (e.g., an attractive force) to the reference portion of rotor 2, driving rotor 2 to continue rotating clockwise.It should also be noted that since the rotor 2 is a magnetic rotor, regardless of whether the north pole or the south pole of the magnetic field generated by the rotating current flowing into each coil is facing the rotor 2, it will have an attractive effect on the reference part of the rotor 2; in this way, compared with the permanent magnet rotor, the difficulty of controlling the direction of the rotating current flowing into each coil when driving the magnetic rotor to rotate can be slightly reduced.

[0061] For example, according to an embodiment of the present disclosure, the rotation control instruction is a counterclockwise rotation control instruction. In this case, the reference coil is located on the left side of the reference portion of the rotor 2 in the counterclockwise direction. Starting from the reference coil, the coils on multiple stator teeth 1t reach the peak of the rotation current in turn in the counterclockwise direction and control the direction of the rotation current to apply magnetic force (for example, attraction) to the reference portion of the rotor 2 in the counterclockwise direction, thereby driving the rotor 2 to rotate counterclockwise. As an example, referring to FIG3B , with the upper left protrusion 2p of the rotor 2 as the reference portion, the rotation control instruction is a counterclockwise rotation control instruction to instruct the rotor 2 to rotate in the counterclockwise direction, and the stator 1 has eight stator teeth 1t. The coils wound on the eight stator teeth 1t are coils 11, 12, 13, 14, 15, 16, 17, and 18. In this case, with the coil 11 located on the left side of the reference portion (e.g., the upper left protrusion 2p) of the rotor 2 in the counterclockwise direction as the reference coil, the coils 11, 12, 13, 14, 15, 16, 17, and 18 are simultaneously fed with a rotating current, and are rotated in the counterclockwise direction with the reference coil 11 as the starting point. The rotating current flowing through the upward coils 11, 18, 17, 16, 15, 14, 13, and 12 reaches a peak value in sequence over time. At the same time, the direction of the rotating current flowing through each coil is controlled so that when the rotating current reaches a peak value, the north pole or south pole of the magnetic field generated by each of the coils 11, 18, 17, 16, 15, 14, 13, and 12 is directed toward the rotor 2 to attract the reference portion of the rotor 2. As a result, the coils 11, 18, 17, 16, 15, 14, 13, and 12 sequentially apply magnetic force (for example, attraction) to the north pole of the reference portion of the rotor 2 in the counterclockwise direction over time, driving the rotor 2 to rotate counterclockwise. It should be noted that Figure 3B is a schematic plan view of stator 1 and rotor 2 when reference coil 11 reaches the peak of its rotating current. At this point, rotating current is simultaneously applied to coils 11 through 18, and reference coil 11 reaches its peak. By controlling the direction of the rotating current, the north or south pole of the magnetic field generated by reference coil 11 is directed toward rotor 2, thereby attracting the reference portion of rotor 2. Reference coil 11 then drives rotor 2 to begin rotating. Subsequently, although not shown, as rotor 2 rotates, coil 18 reaches its peak of rotating current and applies a magnetic force (e.g., an attractive force) to the reference portion of rotor 2, driving rotor 2 to continue rotating counterclockwise. Similarly, coils 17, 16, 15, 14, 13, and 12 sequentially reach their peak of rotating current over time and apply a magnetic force (e.g., an attractive force) to the reference portion of rotor 2, driving rotor 2 to continue rotating counterclockwise.It should also be noted that since the rotor 2 is a magnetic rotor, regardless of whether the north pole or the south pole of the magnetic field generated by the rotating current flowing into each coil is facing the rotor 2, it will have an attractive effect on the reference part of the rotor 2; in this way, compared with the permanent magnet rotor, the difficulty of controlling the direction of the rotating current flowing into each coil when driving the magnetic rotor to rotate can be slightly reduced.

[0062] For example, according to an embodiment of the present disclosure, the position acquisition device includes Hall sensors. In Figures 2A and 2B, Hall sensors 10x, 11x, 10y, and 11y are shown as examples disposed on stator 1. In Figures 3A and 3B, Hall sensors 10a, 10b, and 10c are shown as examples disposed on the stator. By providing multiple Hall sensors, the accuracy of acquiring the angular position α of the reference portion of rotor 2 relative to stator 1 can be improved. For example, in Figures 2A and 2B, rotor 2 is a permanent magnet rotor. In this case, the permanent magnet rotor generates a cosine-distributed magnetic field. Two radially symmetrical Hall sensors 10x and 11x detect and determine the absolute value of the angle of the reference portion of rotor 2. Two radially symmetrical Hall sensors 10y and 11y further detect and determine the actual value of the reference portion of rotor 2 based on the absolute value of the angle, thereby ultimately acquiring the angular position α of the reference portion of rotor 2 relative to stator 1. By providing two radially symmetrical Hall sensors 10x and 11x and two radially symmetrical Hall sensors 10y and 11y, differential calculations can be performed on the detection results, thereby improving the accuracy and sensitivity of the detection. It should be noted that if differential calculations are not considered, in Figures 2A and 2B, only Hall sensors 10x and 10y can be provided, or only Hall sensors 11x and 11y can be provided. For example, in Figures 3A and 3B, the rotor 2 is a magnetically conductive rotor, and the Hall sensors 10a, 10b, and 10c are centrally arranged. This allows the rotor 2's reference portion (i.e., the protrusion 2p) to be accurately detected and the angular position α of the rotor 2's reference portion relative to the stator 1 to be obtained once it passes through the area where the Hall sensors 10a, 10b, and 10c are centrally arranged.

[0063] Figure 4 is a second schematic diagram of the framework of a forward-reversing magnetic levitation bearingless motor according to an embodiment of the present disclosure. Referring to Figure 4 , in the forward-reversing magnetic levitation bearingless motor according to an embodiment of the present disclosure, only one coil is wound around each of the multiple stator teeth 1t; the power amplifier device is a half-bridge power topology circuit and passes a superimposed current through the coil. This superimposed current includes a rotating current component and a levitation current component. The rotating current component can be considered the rotating current as described above, and the levitation current component can be considered the levitation current as described above. Because only one coil is wound around each stator tooth 1t, the possibility of short circuits between coils in the case of multiple coils is avoided and the slot fill rate of the motor is guaranteed. For example, the half-bridge power topology circuit includes multiple half-bridge power amplifiers, which are connected one-to-one with the multiple coils. As an example, Figure 4 shows eight half-bridge power amplifiers i1 to i8 connected one-to-one with the eight coils on the stator 1. It should be noted that in the description above with reference to Figures 2A to 3B, the peak value of the rotating current refers to the peak value of the rotating current component, and the direction of the rotating current flow refers to the direction in which the rotating current component flows into the coil. Continuing with Figure 4 , the main control device includes a rotating current component quantum device, a levitating current component quantum device, and a current superposition sub-device. After receiving the angular position α and the rotation control command, the main control device controls the rotating current component via the rotating current component quantum device, controls the levitating current component via the levitating current component quantum device, and superimposes the rotating and levitating current components via the current superposition sub-device. The half-bridge power topology circuit then passes the superimposed current into the coil. For example, the rotating current component quantum device, the levitating current component quantum device, and the current superposition sub-device are, respectively, a rotating current component quantum circuit, a levitating current component quantum circuit, and a current superposition sub-circuit.

[0064] FIG5 is a third schematic diagram of the framework of a forward-reversing magnetic levitation bearingless motor according to an embodiment of the present disclosure. Referring to FIG5 , in the forward-reversing magnetic levitation bearingless motor according to an embodiment of the present disclosure, for each of the plurality of stator teeth 1t, the coil wound thereon includes a rotating coil and a levitation coil, each of which is insulated from each other. The power amplifier device includes a first power amplifier circuit and a second power amplifier circuit. The first power amplifier circuit is electrically connected to the rotating coil to pass a rotating current to control the rotation of the rotor 2 into the rotating coil; the second power amplifier circuit is electrically connected to the levitation coil to pass a levitation current to control the levitation of the rotor 2 into the levitation coil. As an example, coils 11, 12, 13, 14, 15, 16, 17, and 18 in FIG5 are rotating coils, and the first power amplifier circuit is electrically connected to each of these rotating coils. The coils other than coils 11 to 18 in FIG5 are levitation coils, and the second power amplifier circuit is electrically connected to each of these levitation coils. To simplify the diagram, the connecting lines between the second power amplifier circuit and these levitation coils are omitted in FIG5 .

[0065] As described above, in the forward and reverse magnetic levitation bearingless motor according to the embodiment of the present disclosure, the coils on multiple stator teeth 1t are energized at the same time and both stable rotation and stable suspension are taken into account. In this case, the rotating current and the suspension current in the coils on the multiple stator teeth 1t will be set as follows: the rotating current is configured to construct a Pt-pole rotating magnetic field, and the suspension current is configured to construct a Ps-pole suspension magnetic field, Pt is the number of poles of the rotating magnetic field, Ps is the number of poles of the suspension magnetic field, and Ps=Pt+2 or Ps=Pt-2 is satisfied; the rotating current passed through the coil on each stator tooth 1t is the first cosine current or the first sine current, and the multiple stator teeth 1t are energized at the same time. The phases of the first cosine current or the first sinusoidal current passed through the coil on the stator tooth 1t differ by 360Mt / (2N+2) degrees. The suspension current passed through the coil on each stator tooth 1t is a second cosine current or a second sinusoidal current. The phases of the second cosine current or the second sinusoidal current passed through the coils on multiple stator teeth 1t differ by 360Ms / (2N+2) degrees. When the rotor 2 rotates once in space, the first cosine current or the first sinusoidal current completes Mt complete cycles, and the second cosine current or the second sinusoidal current completes Ms complete cycles, where Pt=2Mt and Ps=2Ms.

[0066] Furthermore, in order to ensure that the levitation magnetic field always matches the rotating magnetic field to provide a constant levitation force during the process of the rotating magnetic field rotating to drive the rotor 2 to rotate, in the case of Ps=Pt+2, the rotation speed of the rotating magnetic field is greater than the rotation speed of the levitation magnetic field, and the ratio of the rotation speed of the rotating magnetic field to the rotation speed of the levitation magnetic field is (Mt+1) / Mt; and in the case of Ps=Pt-2, the rotation speed of the rotating magnetic field is less than the rotation speed of the levitation magnetic field, and the ratio of the rotation speed of the rotating magnetic field to the rotation speed of the levitation magnetic field is (Mt-1) / Mt. In the case of Ps=Pt+2, for example, Pt=4, Ps=6, the rotating magnetic field and the rotor 2 rotate 90°, and the levitation magnetic field rotates 60°. At this time, the rotation speed of the rotating magnetic field is 3 / 2 times the rotation speed of the levitation magnetic field, that is, the rotation speed of the rotating magnetic field is (Mt+1) / Mt times the rotation speed of the levitation magnetic field. For example, if Pt=2, Ps=4, the rotating magnetic field and the rotor 2 rotate 180°, the levitation magnetic field rotates 90°, and the rotation speed of the rotating magnetic field is 2 times the rotation speed of the levitation magnetic field, that is, the rotation speed of the rotating magnetic field is (Mt+1) / Mt times the rotation speed of the levitation magnetic field. In the case of Ps=Pt-2, for example, if Pt=4, Ps=2, the rotating magnetic field and the rotor 2 rotate 90°, the levitation magnetic field rotates 180°, and the rotation speed of the rotating magnetic field is 1 / 2 of the rotation speed of the levitation magnetic field, that is, the rotation speed of the rotating magnetic field is (Mt-1) / Mt times the rotation speed of the levitation magnetic field. It should be noted that the rotational speed of the rotating magnetic field and the rotational speed of the levitation magnetic field described above depends on the mechanical angle of the rotor in space, which is different from the electrical angle of the current flowing through the coil. The relationship between the electrical angle and the mechanical angle is: electrical angle = mechanical angle × number of pole pairs. For example, when Pt = 2 and Ps = 4, the electrical angle of the rotating current = the mechanical angle of the rotating magnetic field × the number of pole pairs of the rotating magnetic field. In this case, the electrical angle of the rotating current is the same as the mechanical angle of the rotating magnetic field. The electrical angle of the levitation current = the mechanical angle of the levitation magnetic field × the number of pole pairs of the levitation magnetic field. In this case, the electrical angle of the levitation current is twice the mechanical angle of the levitation magnetic field, while the mechanical angle of the rotating magnetic field is twice the mechanical angle of the levitation magnetic field. Therefore, the electrical angle of the rotating current and the electrical angle of the levitation current are co-incidental. FIG6 is a schematic diagram of the rotation of the rotor, rotating magnetic field, and suspension magnetic field of a forward and reverse magnetic levitation bearingless motor according to an embodiment of the present disclosure. As an example, it shows the case where Pt=2 and Ps=4. The circle in the figure represents rotor 2, the N and S inside the circle represent the N pole and S pole of rotor 2, and the N and S outside the circle represent the N pole and S pole of the suspension magnetic field. It can be seen that the suspension magnetic field is a 4-pole magnetic field, and the underlined N and S outside the circle represent the N pole and S pole of the rotating magnetic field. It can be seen that the rotating magnetic field is a 2-pole magnetic field. It can be clearly seen from FIG6 that the rotating magnetic field and rotor 2 rotate 180°, and the suspension magnetic field rotates 90°.

[0067] FIG7 is a fourth schematic diagram of the framework of a forward-reversing magnetic levitation bearingless motor according to an embodiment of the present disclosure. Referring to FIG7 , the forward-reversing magnetic levitation bearingless motor according to an embodiment of the present disclosure further includes a mode control device, which is connected to the main control device and configured to control the forward-reversing magnetic levitation bearingless motor to switch between a first mode and a second mode; in the first mode, the forward-reversing magnetic levitation bearingless motor according to the embodiment of the present disclosure rotates only clockwise or only counterclockwise; in the second mode, the forward-reversing magnetic levitation bearingless motor according to the embodiment of the present disclosure can switch between clockwise and counterclockwise rotation. For example, the mode control device is a device that can be manipulated by the user (e.g., a dial button); in this case, the user can manipulate the mode control device to switch the forward-reversing magnetic levitation bearingless motor according to the embodiment of the present disclosure between the first mode and the second mode. By providing the mode control device, the controllability of the forward-reversing magnetic levitation bearingless motor according to the embodiment of the present disclosure is further improved, so that the forward-reversing magnetic levitation bearingless motor according to the embodiment of the present disclosure can be applied to any application scenario. For example, in applications where reverse function is not required, the first mode can be set as the default mode to prevent damage caused by accidental reverse rotation. In this default mode, even if the main control device receives a reverse command, it will not operate. This prevents damage caused by accidental reverse rotation. Furthermore, the second mode can only be used after it is enabled, that is, the forward and reverse modes can only be used after it is enabled, to prevent adverse consequences caused by motor reverse rotation.

[0068] According to an embodiment of the present disclosure, a control method for a forward-reversing magnetic levitation bearingless motor is also provided. FIG8 is a flow chart of a control method for a forward-reversing magnetic levitation bearingless motor according to an embodiment of the present disclosure. The forward-reversing magnetic levitation bearingless motor according to an embodiment of the present disclosure includes: a stator 1, wherein the stator 1 includes a plurality of stator teeth 1t, each stator tooth 1t being wound with a coil; and a rotor 2, wherein the stator 1 is arranged around the rotor 2 or the rotor 2 is arranged around the stator 1, and a rotational current for controlling the rotation of the rotor 2 and a suspension current for controlling the suspension of the rotor 2 are passed through the above-mentioned coils, and the rotor 2 has a reference portion. Referring to Figure 8, the control method of the forward and reverse magnetic levitation bearingless motor according to the embodiment of the present disclosure includes: obtaining a rotation control instruction, obtaining the angular position α of the reference part of the rotor 2 relative to the stator 1; based on the angular position α and the rotation control instruction, selecting a reference coil and controlling the order in which the coils on multiple stator teeth 1t reach the peak of the rotating current starting from the reference coil and the direction of the rotating current of the coil on each stator tooth 1t, thereby controlling the rotation direction of the rotor 2, during which the rotating magnetic field generated by the rotating current rotates; at the same time, controlling the order in which the coils on multiple stator teeth 1t reach the peak of the suspension current and the direction of the suspension current of the coil on each stator tooth 1t, thereby controlling the suspension of the rotor 2, during which the suspension magnetic field generated by the suspension current rotates, and the rotation direction of the rotating magnetic field is the same as the rotation direction of the suspension magnetic field, and the rotation speed of the rotating magnetic field is different from the rotation speed of the suspension magnetic field. According to the embodiment of the present disclosure, a reference coil is selected from the coils on the multiple stator teeth 1t based on the angular position α and the rotation control instruction, and the order in which the coils on the multiple stator teeth 1t reach the peak current starting from the reference coil and the energization direction of the coil on each stator tooth 1t are controlled, thereby controlling the rotation direction of the rotor 2 so that the rotor 2 rotates clockwise or counterclockwise as needed. Therefore, the control method of the magnetic levitation bearingless motor according to the embodiment of the present disclosure can simply and flexibly select the rotation direction as needed, and can choose to start counterclockwise or clockwise as needed, and can also switch between counterclockwise and clockwise rotation as needed. That is, the forward and reverse rotation function of the magnetic levitation bearingless motor is realized. In addition, according to the embodiment of the present disclosure, by controlling the order in which the coils on multiple stator teeth 1t reach the peak value of the suspension current and the direction of the suspension current flow of the coil on each stator tooth 1t, the suspension magnetic field can also rotate and the rotation direction of the rotating magnetic field is the same as the rotation direction of the suspension magnetic field; further, since Ps=Pt+2 or Ps=Pt-2, Ps is not equal to Pt, and thus the rotation speed of the rotating magnetic field must be different from the rotation speed of the suspension magnetic field, so that the rotating magnetic field and the suspension magnetic field can match each other.According to the embodiment of the present disclosure, the magnetic levitation bearingless motor can simply and flexibly select the direction of rotation as needed; under this premise, the magnetic levitation bearingless motor according to the embodiment of the present disclosure can also well balance the stable rotation and stable suspension of the rotor 2, and has excellent performance. For example, the rotor 2 is a permanent magnet rotor and has a magnetic pole, and the magnetic pole is the reference part of the rotor 2; in the control method according to the embodiment of the present disclosure, the reference coil is selected so that the angular position of the reference coil relative to the stator 1 and the angular position of the reference part relative to the stator 1 differ by an angle. For example, the angle between the angular position of the reference coil relative to the stator 1 and the angular position of the reference part relative to the stator 1 is less than or equal to 90 degrees; preferably, the angle between the angular position of the reference coil relative to the stator 1 and the angular position of the reference part relative to the stator 1 is 90 degrees. For example, if the rotation control instruction is a clockwise rotation control instruction, in the control method according to the embodiment of the present disclosure, the reference coil is located on the left side of the reference portion of the rotor 2 in the clockwise direction, and starting from the reference coil, the coils on the multiple stator teeth 1t sequentially reach the peak value of the rotation current in the clockwise direction and control the direction of the rotation current energization to sequentially apply a magnetic force (e.g., a repulsive force) to the reference portion of the rotor 2 in the clockwise direction, thereby driving the rotor 2 to rotate clockwise. For example, if the rotation control instruction is a counterclockwise rotation control instruction, in the control method according to the embodiment of the present disclosure, the reference coil is located on the right side of the reference portion of the rotor 2 in the counterclockwise direction, and starting from the reference coil, the coils on the multiple stator teeth 1t sequentially reach the peak value of the rotation current in the counterclockwise direction and control the direction of the rotation current energization to sequentially apply a magnetic force (e.g., a repulsive force) to the reference portion of the rotor 2 in the counterclockwise direction, thereby driving the rotor 2 to rotate counterclockwise.

[0069] For example, the rotor 2 is a magnetically permeable rotor and includes multiple protrusions 2p protruding toward the stator 1, one of which serves as the reference portion of the rotor 2. In the control method according to an embodiment of the present disclosure, the reference coil is selected such that the angular position of the reference coil relative to the stator 1 differs from the angular position of the reference portion relative to the stator 1 by an angle. For example, the angle difference between the angular position of the reference coil relative to the stator 1 and the angular position of the reference portion relative to the stator 1 is less than or equal to 90 degrees. Preferably, under the premise that the angular position of the reference coil relative to the stator 1 differs from the angular position of the reference portion relative to the stator 1 by an angle, the coil closest to the reference portion of the rotor 2 is used as the reference coil. For example, if the rotation control command is a clockwise rotation control command, in the control method according to an embodiment of the present disclosure, the reference coil is located to the right of the reference portion of the rotor 2 in the clockwise direction. Starting from the reference coil, the coils on the multiple stator teeth 1t sequentially reach the peak value of the rotational current in the clockwise direction and control the direction of the rotational current to sequentially apply a magnetic force (e.g., an attractive force) to the reference portion of the rotor 2 in the clockwise direction, thereby driving the rotor 2 to rotate clockwise. For example, according to an embodiment of the present disclosure, the rotation control instruction is a counterclockwise rotation control instruction. In the control method according to an embodiment of the present disclosure, the reference coil is located on the left side of the reference part of the rotor 2 in the counterclockwise direction. Starting from the reference coil, the coils on multiple stator teeth 1t reach the peak of the rotation current in turn in the counterclockwise direction and control the direction of the rotation current to apply magnetic force (for example, attraction) to the reference part of the rotor 2 in the counterclockwise direction, thereby driving the rotor 2 to rotate counterclockwise.

[0070] It should be noted that the control method of the forward and reverse magnetic levitation bearingless motor according to the embodiment of the present disclosure can refer to the description of the forward and reverse magnetic levitation bearingless motor above. The features of the forward and reverse magnetic levitation bearingless motor described with reference to Figures 1 to 7 can all be applied to the control method of the forward and reverse magnetic levitation bearingless motor according to the embodiment of the present disclosure, and will not be repeated here. More specifically, the features of the forward and reverse magnetic levitation bearingless motor defined in Claims 1-13 can all be applied to the control method of the forward and reverse magnetic levitation bearingless motor according to the embodiment of the present disclosure.

[0071] According to an embodiment of the present disclosure, a forward and reverse magnetic levitation bearingless motor system is also provided. Figure 9 is a schematic diagram of the framework of the forward and reverse magnetic levitation bearingless motor system according to an embodiment of the present disclosure. Referring to Figure 9, the forward and reverse magnetic levitation bearingless motor according to an embodiment of the present disclosure includes: a processor; and a memory, including one or more computer program modules; wherein the one or more computer program modules are stored in the memory and configured to be executed by the processor, and the one or more computer program modules include instructions for implementing the control method described above. The working principle and technical effects of the forward and reverse magnetic levitation bearingless motor system can refer to the forward and reverse magnetic levitation bearingless motor and its control method according to the embodiment of the present disclosure described above, and will not be repeated here.

[0072] For example, the memory is used to store non-transitory computer-readable instructions (e.g., one or more computer program modules). The processor is used to execute the non-transitory computer-readable instructions. When the non-transitory computer-readable instructions are executed by the processor, one or more steps in the control method described above can be performed. The memory and the processor can be interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0073] For example, the processor may be a central processing unit (CPU), a graphics processing unit (GPU), or another form of processing unit with data processing capabilities and / or program execution capabilities. For example, the central processing unit (CPU) may be an X86 or ARM architecture. The processor may be a general-purpose processor or a dedicated processor, and may control components in the forward and reverse magnetic levitation bearingless motor to perform desired functions.

[0074] Figure 10 is a second schematic diagram of the framework of a forward-reversing magnetic levitation bearingless motor system according to an embodiment of the present disclosure. Referring to Figure 10 , the forward-reversing magnetic levitation bearingless motor system is suitable for implementing the control method provided by an embodiment of the present disclosure. The forward-reversing magnetic levitation bearingless motor system can be a terminal device, etc. It should be noted that the forward-reversing magnetic levitation bearingless motor system shown in Figure 10 is merely an example and does not impose any limitations on the functionality or scope of use of the embodiments of the present disclosure.

[0075] As shown in FIG10 , the forward and reverse magnetic levitation bearingless motor system may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 810, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 820 or a program loaded from a storage device 880 into a random access memory (RAM) 830. Various programs and data required for the operation of the forward and reverse magnetic levitation bearingless motor system are also stored in RAM 830. The processing device 810, ROM 820, and RAM 830 are connected to each other via a bus 840. An input / output (I / O) interface 850 is also connected to the bus 840.

[0076] Typically, the following devices can be connected to the I / O interface 850: an input device 860 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 870 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 880 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 890. The communication device 890 can allow the forward and reverse magnetic levitation bearingless motor system to communicate with other devices wirelessly or by wire to exchange data. Although FIG10 shows a forward and reverse magnetic levitation bearingless motor system with various devices, it should be understood that it is not required to implement or have all of the devices shown, and the forward and reverse magnetic levitation bearingless motor system can alternatively implement or have more or fewer devices.

[0077] For example, according to an embodiment of the present disclosure, the above-mentioned control method can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program includes a program code for executing the above-mentioned control method. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device 890, or installed from the storage device 880, or installed from the ROM 820. When the computer program is executed by the processing device 810, the control method provided by the embodiment of the present disclosure can be implemented.

[0078] According to an embodiment of the present disclosure, a computer-readable storage medium is also provided. Figure 11 is a schematic diagram of a computer-readable storage medium according to an embodiment of the present disclosure. Referring to Figure 11, the computer-readable storage medium 900 provided in an embodiment of the present disclosure is used to store non-transitory computer-readable instructions 910. When the non-transitory computer-readable instructions 910 are executed by a computer, the above-mentioned control method can be implemented. The working principle and technical effects of the computer-readable storage medium 900 can refer to the forward and reverse magnetic levitation bearingless motor and control method described above, and will not be repeated here. For example, the storage medium 900 can be applied to the above-mentioned forward and reverse magnetic levitation bearingless motor system. For example, the storage medium 900 can be a memory in the forward and reverse magnetic levitation bearingless motor system shown in Figure 9.

[0079] For example, the storage medium 900 may include a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disk read-only memory (CD-ROM), a flash memory, or any combination of the above storage media, or other applicable storage media.

[0080] According to an embodiment of the present disclosure, a magnetic levitation device is also provided. Referring to Figures 12-17 , the magnetic levitation device of the present invention can be configured as a magnetic levitation pump, a magnetic levitation stirring device, a magnetic levitation turntable, etc., depending on the functional application. The following detailed description of the products of the present invention configured for different applications is provided in conjunction with the accompanying drawings.

[0081] In one application embodiment, the magnetic levitation device is configured as a magnetic levitation pump, referring to Figures 12 and 13. The magnetic levitation pump includes the forward and reverse magnetic levitation bearingless motor 100 of the above-mentioned embodiments. The magnetic levitation pump also includes a pump head 3. The pump head 3 includes a pump casing 31 and a rotor impeller 32 arranged in the pump casing. The rotor impeller includes a rotor 2. The rotor 2 is both the rotor 2 of the forward and reverse magnetic levitation bearingless motor and a part of the rotor impeller 32 of the pump. It can be, for example, a permanent magnet rotor, a short-circuit cage rotor, or a reluctance rotor. The forward and reverse magnetic levitation bearingless motor is configured to drive the rotor impeller to rotate and levitate, and drives the rotor impeller to rotate forward or / and reverse according to the usage scenario.

[0082] In another application embodiment, referring to Figures 14, 15 and 16, the magnetic levitation device can also be configured as a magnetic levitation stirring device. In the application of the magnetic levitation stirring device, the magnetic levitation stirring device includes the forward and reverse magnetic levitation bearingless motor 100 of each of the above embodiments. The magnetic levitation stirring device also includes a stirring device 3', the stirring device 3' includes a stirring container 31' and a rotor stirring head 32' arranged in the stirring container, the rotor stirring head includes a rotor, the rotor is both the rotor of the forward and reverse magnetic levitation bearingless motor and a part of the rotor stirring head 32' of the stirring device, the forward and reverse magnetic levitation bearingless motor is configured to drive the rotor stirring head 32' to rotate and suspend, and drive the rotor stirring head forward or / and reverse according to the use scenario. As shown in Figure 14, assuming that the motor is rotating forward (for example, counterclockwise), the structure of the rotor stirring head impeller can be set according to the stirring scenario, so that the motor can generate a vortex when it rotates forward, so as to use the vortex to suck down the mixed material that is easy to float but not easy to sink, thereby achieving the purpose of improving the mixing and stirring effect. Similarly, a vortex can be generated when the motor is reversed (for example, clockwise), as shown in Figure 15. As shown in Figure 16, in other stirring scenarios, vortices are undesirable. This is to prevent them from moving down to the rotor stirring head when the power is high, affecting the balance or stability of the rotor, or even generating unwanted cavitation that damages the medium. To this end, the timing of the motor's forward and reverse rotation can be controlled to prevent vortices from forming throughout the stirring process. This prevents vortices from affecting the rotor stirring head, and avoids cavitation and medium damage caused by vortices, thus better meeting the stirring and mixing needs of clean environments such as biopharmaceuticals, semiconductors, and chip manufacturing.

[0083] In yet another application embodiment, referring to FIG. 17 , the magnetic levitation device can also be configured as a magnetic levitation turntable. Similarly, the magnetic levitation turntable includes the forward and reverse magnetic levitation bearingless motor 100 of each of the above-described embodiments. The magnetic levitation turntable also includes a rotor support platform 3″, which includes a table top 31″ and a rotor 32″. The table top 31″ is connected to the rotor 32″. The forward and reverse magnetic levitation bearingless motor is configured to drive the rotor support platform to rotate and levitate, and to drive the rotor support platform to rotate forward and / or reverse according to the usage scenario.

[0084] The magnetic levitation device of the present invention can also be assembled with assemblies of different functions according to other functional applications, thereby becoming a magnetic levitation device with different application requirements.

[0085] The above are merely exemplary embodiments of the present disclosure and are not intended to limit the scope of protection of the present disclosure. The scope of protection of the present disclosure is determined by the appended claims.

Claims

1. A forward and reverse magnetic suspension bearingless motor, comprising: A stator, the stator comprising a plurality of stator teeth, each stator tooth being wound with a coil; a rotor, the stator being arranged around the rotor or the rotor being arranged around the stator, the rotor having a reference portion; a position acquisition device configured to acquire an angular position of a reference portion of the rotor relative to the stator; a rotation control device configured to provide rotation control instructions; A main control device and a power amplifier device, wherein the main control device is connected to the position acquisition device, the rotation control device and the power amplifier device respectively, and the power amplifier device is also electrically connected to the coil to pass a rotation current for controlling the rotation of the rotor and a suspension current for controlling the suspension of the rotor into the coil, wherein: The main control device, the power amplifier device, the stator and the rotor are configured as follows: based on the angular position and the rotation control instruction, the main control device selects a reference coil and controls the order in which the coils on the plurality of stator teeth reach the peak value of the rotating current starting from the reference coil and the direction in which the rotating current of the coil on each stator tooth is energized through the power amplifier device, thereby controlling the rotation direction of the rotor, and in this process, the rotating magnetic field generated by the rotating current rotates; The main control device, the power amplifier device, the stator and the rotor are further configured as follows: the main control device controls the order in which the coils on the plurality of stator teeth reach the peak value of the suspension current and the energizing direction of the suspension current of the coil on each stator tooth through the power amplifier device, thereby controlling the suspension of the rotor, during which the suspension magnetic field generated by the suspension current rotates; and The rotation direction of the rotating magnetic field is the same as the rotation direction of the levitation magnetic field, and the rotation speed of the rotating magnetic field is different from the rotation speed of the levitation magnetic field.

2. The forward and reverse magnetic suspension bearingless motor according to claim 1, wherein: The rotor is a permanent magnet rotor and has magnetic poles, and the magnetic poles are reference parts of the rotor; An angular position of the reference coil relative to the stator differs from an angular position of the reference portion relative to the stator by an angle.

3. The forward and reverse magnetic suspension bearingless motor according to claim 2, wherein: The rotation control instruction is a clockwise rotation control instruction. In this case, the reference coil is located on the left side of the reference portion in the clockwise direction. Starting from the reference coil, the coils on the multiple stator teeth reach the peak value of the rotation current in turn in the clockwise direction and control the rotation current energization direction. sequentially applying magnetic force to the reference portion in a clockwise direction, thereby driving the rotor to rotate clockwise; or, The rotation control instruction is a counterclockwise rotation control instruction. In this case, the reference coil is located on the right side of the reference portion in the counterclockwise direction. Starting from the reference coil, the coils on the multiple stator teeth reach the peak value of the rotation current in turn in the counterclockwise direction and control the direction of the rotation current to apply magnetic force to the reference portion in turn in the counterclockwise direction, thereby driving the rotor to rotate counterclockwise.

4. The forward and reverse magnetic suspension bearingless motor according to claim 2, wherein: The angle difference between the angular position of the reference coil relative to the stator and the angular position of the reference portion relative to the stator is 90 degrees.

5. The forward and reverse magnetic suspension bearingless motor according to claim 1, wherein: The rotor is a magnetically conductive rotor and includes a plurality of protrusions protruding toward the stator, one of the plurality of protrusions being a reference portion of the rotor; An angular position of the reference coil relative to the stator differs from an angular position of the reference portion relative to the stator by an angle.

6. The forward and reverse magnetic suspension bearingless motor according to claim 5, wherein: The rotation control instruction is a clockwise rotation control instruction. In this case, the reference coil is located on the right side of the reference portion in the clockwise direction. Starting from the reference coil, the coils on the plurality of stator teeth sequentially reach the peak value of the rotation current in the clockwise direction and control the current conduction direction of the rotation current to sequentially apply magnetic force to the reference portion in the clockwise direction, thereby driving the rotor to rotate clockwise; or, The rotation control instruction is a counterclockwise rotation control instruction. In this case, the reference coil is located on the left side of the reference part in the counterclockwise direction. Starting from the reference coil, the coils on the multiple stator teeth reach the peak value of the rotation current in turn in the counterclockwise direction and control the direction of the rotation current to apply magnetic force to the reference part in turn in the counterclockwise direction, thereby driving the rotor to rotate counterclockwise.

7. The forward and reverse magnetic suspension bearingless motor according to any one of claims 1 to 6, wherein: The position acquisition device includes a Hall sensor.

8. The forward and reverse magnetic suspension bearingless motor according to any one of claims 1 to 6, wherein: For each of the plurality of stator teeth, there is only one coil wound thereon; The power amplifier device is a half-bridge power topology circuit and passes a superimposed current into the coil. The superimposed current includes a rotating current component and a floating current component, the rotating current component serving as the rotating current and the floating current component serving as the floating current.

9. The forward and reverse magnetic suspension bearingless motor according to any one of claims 1 to 6, wherein: For each of the plurality of stator teeth, the coil wound thereon includes a rotating coil and a suspension coil insulated from each other; The power amplification device comprises a first power amplification circuit and a second power amplification circuit; The first power amplifier circuit is electrically connected to the rotating coil to pass a rotating current for controlling the rotation of the rotor into the rotating coil; The second power amplifier circuit is electrically connected to the suspension coil to pass a suspension current for controlling the suspension of the rotor into the suspension coil.

10. The forward and reverse magnetic suspension bearingless motor according to any one of claims 1 to 6, wherein: The rotating current is configured to construct a Pt-pole rotating magnetic field, and the suspension current is configured to construct a Ps-pole suspension magnetic field, where Pt is the number of poles of the rotating magnetic field, and Ps is the number of poles of the suspension magnetic field, and Ps=Pt+2 or Ps=Pt-2 is satisfied; The rotating current passed through the coil on each stator tooth is a first cosine current or a first sine current, and the phases of the first cosine current or the first sine current passed through the coils on the multiple stator teeth differ by 360Mt / (2N+2) degrees in sequence; The suspension current passed through the coil on each stator tooth is a second cosine current or a second sine current, and the phases of the second cosine current or the second sine current passed through the coils on multiple stator teeth differ by 360Ms / (2N+2) degrees respectively. When the rotor rotates one circle in space, the first cosine current or the first sine current completes Mt complete cycle changes, and the second cosine current or the second sine current completes Ms complete cycle changes, wherein Pt=2Mt, Ps=2Ms.

11. The forward and reverse magnetic suspension bearingless motor according to claim 10, wherein: In the case of Ps=Pt+2, the rotation speed of the rotating magnetic field is greater than the rotation speed of the suspension magnetic field; In the case of Ps=Pt-2, the rotation speed of the rotating magnetic field is lower than the rotation speed of the levitation magnetic field.

12. The forward and reverse magnetic suspension bearingless motor according to claim 11, wherein: In the case of Ps=Pt+2, the ratio of the rotation speed of the rotating magnetic field to the rotation speed of the suspension magnetic field is (Mt+1) / Mt; In the case of Ps=Pt-2, the rotation speed of the rotating magnetic field is proportional to the rotation speed of the suspension magnetic field. The speed ratio is (Mt-1) / Mt.

13. The forward and reverse magnetic suspension bearingless motor according to any one of claims 1 to 6, further comprising a mode control device, the mode control device being connected to the main control device and configured to control the forward and reverse magnetic suspension bearingless motor to switch between a first mode and a second mode; In the first mode, the forward and reverse magnetic suspension bearingless motor rotates only clockwise or only counterclockwise; In the second mode, the forward and reverse magnetic suspension bearingless motor is switchable between clockwise rotation and counterclockwise rotation.

14. A control method for a forward and reverse magnetic suspension bearingless motor, wherein: The forward and reverse magnetic suspension bearingless motor comprises: a stator, the stator comprising a plurality of stator teeth, each stator tooth being wound with a coil; and The stator is arranged around the rotor or the rotor is arranged around the stator, a rotating current for controlling the rotation of the rotor and a levitation current for controlling the levitation of the rotor are passed through the coil, and the rotor has a reference part, The control method comprises: Obtaining a rotation control instruction, and obtaining an angular position of a reference portion of the rotor relative to the stator; Based on the angular position and the rotation control instruction, a reference coil is selected and the order in which the coils on the multiple stator teeth reach the peak value of the rotating current starting from the reference coil and the direction in which the rotating current of the coil on each stator tooth is energized are controlled, thereby controlling the rotation direction of the rotor. During this process, the rotating magnetic field generated by the rotating current rotates; at the same time, the order in which the coils on the multiple stator teeth reach the peak value of the suspension current and the direction in which the suspension current of the coil on each stator tooth is energized are controlled, thereby controlling the rotor suspension. During this process, the suspension magnetic field generated by the suspension current rotates, and The rotation direction of the rotating magnetic field is the same as the rotation direction of the levitation magnetic field, and the rotation speed of the rotating magnetic field is different from the rotation speed of the levitation magnetic field.

15. A forward and reverse magnetic suspension bearingless motor system, comprising: processor; a memory including one or more computer program modules; The one or more computer program modules are stored in the memory and configured to be executed by the processor, and the one or more computer program modules include instructions for implementing the control method of claim 14. 16 . A computer-readable storage medium storing non-transitory computer-readable instructions, which can implement the control method of claim 14 when the non-transitory computer-readable instructions are executed by a computer.

17. A magnetic levitation device, wherein: The magnetic levitation device is configured as a magnetic levitation pump, the magnetic levitation pump comprises the forward and reverse magnetic levitation bearingless motor according to any one of claims 1 to 13, and further comprises a pump housing and a rotor impeller arranged in the pump housing, the rotor impeller comprises the rotor; or The magnetic levitation equipment is configured as a magnetic levitation stirring device, the magnetic levitation stirring device comprises the forward and reverse magnetic levitation bearingless motor according to any one of claims 1 to 13, and also comprises a stirring container and a rotor stirring head arranged in the stirring container, the rotor stirring head comprises the rotor; or The magnetic levitation device is configured as a magnetic levitation turntable, which includes the forward and reverse magnetic levitation bearingless motor according to any one of claims 1 to 13, and also includes a rotor support platform, and the rotor support platform includes the rotor.

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