Active steering system without mechanical transmission apparatus, and vehicle

Abstract

The present disclosure provides an active steering system without a mechanical transmission apparatus, and a vehicle. The active steering system comprises an active steering module, and the active steering module comprises a first stator, an outer rotor, a first inner rotor and a first magnetic gear assembly. The outer rotor is rotationally provided on the inner side of the first stator, the first inner rotor is rotationally provided on the inner side of the outer rotor, and the first magnetic gear assembly is rotationally provided between the outer rotor and the first inner rotor; the first inner rotor is configured to input a first steering force, the outer rotor is configured to output a second steering force, and the first magnetic gear assembly is configured to superpose the rotation angle of the first steering force and the rotation angle of the second steering force according to a first set ratio and then output a third steering force.

Description

Active steering system and vehicle with mechanical transmission device eliminated

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application is based on the Chinese patent application with application number 202311094909.3 and application date of August 29, 2023, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby introduced into this application as a reference. Technical Field

[0003] The present disclosure relates to the technical field of vehicle steering, and in particular to an active steering system and a vehicle that eliminates a mechanical transmission device. Background Art

[0004] The steering system is a vehicle's core actuating system, and its performance significantly impacts vehicle handling stability. To further enhance vehicle handling stability, active steering systems have rapidly developed. Active steering systems superimpose an active steering module on traditional steering systems to ensure vehicle handling stability in complex operating conditions.

[0005] Currently, existing active steering system solutions mainly use a combination of electric motors and mechanical transmission devices, such as single-stage planetary gears and double-stage planetary gears. However, mechanical transmission devices inevitably cause mechanical power loss, resulting in low efficiency of the active steering system. The inherent friction, wear, aging, and jamming characteristics of mechanical transmission devices also affect the performance of the active steering system, resulting in reduced reliability. In addition, mechanical transmission devices require regular inspection, maintenance, and upkeep, which increases the cost of use.

[0006] Summary of the Invention

[0007] The present disclosure aims to solve one of the technical problems in the related art at least to a certain extent.

[0008] Therefore, an object of the present disclosure is to provide an active steering system and a vehicle that eliminates a mechanical transmission device.

[0009] To achieve the above-mentioned objectives, the present disclosure provides, in a first aspect, an active steering system that eliminates a mechanical transmission device, comprising: an active steering module, the active steering module comprising: a first stator, an outer rotor, a first inner rotor, and a first magnetic gear assembly; wherein the outer rotor is rotatably arranged on the inner side of the first stator, and a first gap is provided between the outer rotor and the first stator, the first inner rotor is rotatably arranged on the inner side of the outer rotor, the first magnetic gear assembly is rotatably arranged between the outer rotor and the first inner rotor, and a second gap is provided between the first magnetic gear assembly and the outer rotor, and a third gap is provided between the first magnetic gear assembly and the first inner rotor; the first inner rotor is used to input a first steering force, the outer rotor is used to output a second steering force, and the first magnetic gear assembly is used to output a third steering force after superimposing the rotation angle of the first steering force and the rotation angle of the second steering force according to a first set ratio.

[0010] In some embodiments, the first stator includes: a first stator core and a first stator winding, the first stator winding is arranged on the inner side of the first stator core along the circumference of the first stator core; the outer rotor includes: an outer rotor core, a first permanent magnet array and a second permanent magnet array, the outer rotor core is rotatably arranged on the inner side of the first stator core, and a first gap is provided between the outer rotor core and the first stator core, the first permanent magnet array is arranged on the outer side of the outer rotor core along the circumference of the outer rotor core, and the second permanent magnet array is arranged on the inner side of the outer rotor core along the circumference of the outer rotor core; the first inner rotor includes: a first inner rotor core and a third permanent magnet array, the first inner rotor core is rotatably arranged on the inner side of the outer rotor core, and the first inner The rotor core is used to input the first steering force, the first magnetic gear assembly is rotatably arranged between the outer rotor core and the first inner rotor core, the second gap is arranged between the first magnetic gear assembly and the outer rotor core, the third gap is arranged between the first magnetic gear assembly and the first inner rotor core, and the third permanent magnet array is arranged on the outside of the first inner rotor core along the circumferential direction of the first inner rotor core; wherein, the magnetic pole directions of the first permanent magnet array, the second permanent magnet array and the third permanent magnet array are located in the radial direction of the first inner rotor core, and the adjacent magnetic poles in the first permanent magnet array, the second permanent magnet array and the third permanent magnet array are opposite in magnetic properties, and the magnetic poles of the first permanent magnet array and the magnetic poles of the second permanent magnet array are arranged relative to each other and have opposite magnetic properties.

[0011] In some embodiments, the first magnetic gear assembly includes: a first magnetic tuning rotor, the first magnetic tuning rotor includes: a first magnetic tuning rotor core and a first magnetic tuning ring, the first magnetic tuning rotor core is rotatably arranged between the outer rotor core and the first inner rotor core, and the first magnetic tuning rotor core is used to output the third steering force, the second gap is arranged between the first magnetic tuning rotor core and the outer rotor core, the third gap is arranged between the first magnetic tuning rotor core and the first inner rotor core, and the first magnetic tuning ring is arranged on the first magnetic tuning rotor core along the circumference of the first magnetic tuning rotor core; wherein, the number of pole pairs of the first magnetic tuning ring is equal to the sum of the number of pole pairs of the first permanent magnet array and the number of pole pairs of the third permanent magnet array.

[0012] In some embodiments, the first magnetic gear assembly includes: a first planetary rotor, the first planetary rotor includes: a first planetary carrier and a plurality of first planetary wheels, the first planetary carrier is rotatably arranged between the outer rotor core and the first inner rotor core, and the first planetary carrier is used to output the third steering force, a second gap is provided between the first planetary carrier and the outer rotor core, and a third gap is provided between the first planetary carrier and the first inner rotor core, the first planetary wheel includes: a first planetary wheel core and a fourth permanent magnet array, and a plurality of the first planetary wheel cores are arranged on the first planetary carrier along the circumference of the first planetary carrier , the fourth permanent magnet array is arranged on the first planetary gear core along the circumference of the first planetary gear core; wherein the magnetic pole direction of the fourth permanent magnet array is located in the radial direction of the first planetary gear core, and the magnetic properties of adjacent magnetic poles in the fourth permanent magnet array are opposite; the sum of the number of pole pairs of the third permanent magnet array and twice the number of pole pairs of the fourth permanent magnet array is equal to the number of pole pairs of the first permanent magnet array; the ratio of the radius of the outer rotor core to the number of pole pairs of the first permanent magnet array, the ratio of the radius of the first inner rotor core to the number of pole pairs of the third permanent magnet array, and the ratio of the radius of the first planetary gear core to the number of pole pairs of the fourth permanent magnet array are equal.

[0013] In some embodiments, the first magnetic gear assembly includes: an outer ring gear, the outer ring gear including: an outer ring gear core and a fifth permanent magnet array, the first inner rotor core is rotatably disposed on the inner side of the outer ring gear core, and the fifth permanent magnet array is disposed on the inner side of the outer ring gear core along the circumference of the outer ring gear core; a second planetary rotor, the second planetary rotor including: a second planet carrier and a plurality of second planetary gears, the second planet carrier being rotatably disposed between the outer ring gear core and the first inner rotor core, a fourth gap being disposed between the second planet carrier and the outer ring gear core, the third gap being disposed between the second planet carrier and the first inner rotor core, and the second planetary gears including: A second planetary gear core and a sixth permanent magnet array, a plurality of second planetary gear cores are arranged on the second planetary gear carrier along the circumference of the second planetary gear core, and the sixth permanent magnet array is arranged on the second planetary gear core along the circumference of the second planetary gear core; a sun rotor, the sun rotor comprises: a sun rotor core and a seventh permanent magnet array, the sun rotor core is rotatably arranged on the inner side of the outer rotor core, and the sun rotor core is used to output the third steering force, and the seventh permanent magnet array is arranged on the outer side of the sun rotor core along the circumference of the sun rotor core; a third planetary rotor, the third planetary rotor comprises: a third planetary carrier and a plurality of third planetary wheels, the third planetary carrier and The second planet carrier is coaxially connected, and the third planet carrier is rotatably arranged between the outer rotor core and the sun rotor core, a second gap is provided between the third planet carrier and the outer rotor core, and a fifth gap is provided between the third planet carrier and the sun rotor core. The third planet gear includes: a third planet gear core and an eighth permanent magnet array, a plurality of the third planet gear cores are arranged on the third planet carrier along the circumference of the third planet carrier, and the eighth permanent magnet array is arranged on the third planet gear core along the circumference of the third planet gear core; wherein the magnetic poles of the fifth permanent magnet array, the sixth permanent magnet array, the seventh permanent magnet array and the eighth permanent magnet array The direction is located in the radial direction of the first inner rotor core, and the magnetic properties of adjacent magnetic poles in the fifth permanent magnet array, the sixth permanent magnet array, the seventh permanent magnet array, and the eighth permanent magnet array are opposite; the number of pole pairs of the fifth permanent magnet array is equal to twice the number of pole pairs of the sixth permanent magnet array and the sum of the number of pole pairs of the third permanent magnet array; the number of pole pairs of the first permanent magnet array is equal to twice the number of pole pairs of the eighth permanent magnet array and the sum of the number of pole pairs of the seventh permanent magnet array; the ratio of the radius of the outer gear ring core to the number of pole pairs of the fifth permanent magnet array, the ratio of the radius of the second planetary gear core to the number of pole pairs of the sixth permanent magnet array, and the ratio of the radius of the first inner rotor core to the number of pole pairs of the third permanent magnet array are equal;The ratio of the radius of the outer rotor core to the number of pole pairs of the first permanent magnet array, the ratio of the radius of the third planetary gear core to the number of pole pairs of the eighth permanent magnet array, and the ratio of the radius of the sun rotor core to the number of pole pairs of the seventh permanent magnet array are equal; the number of pole pairs of the first permanent magnet array is equal to the number of pole pairs of the fifth permanent magnet array, the number of pole pairs of the third permanent magnet array is equal to the number of pole pairs of the seventh permanent magnet array, and the number of pole pairs of the sixth permanent magnet array is equal to the number of pole pairs of the eighth permanent magnet array. The radius of the outer rotor core is equal to the radius of the outer ring gear core, the radius of the second planetary gear core is equal to the radius of the third planetary gear core, and the radius of the first inner rotor core is equal to the radius of the sun rotor core.

[0014] In some embodiments, the active steering module also includes: a first shell, the first stator core is arranged in the first shell, the outer rotor core is rotatably arranged in the first shell, the first inner rotor core is rotatably arranged in the first shell, and one end of the first inner rotor core extends out of one end of the first shell and is used to input the first steering force, the first magnetic gear assembly is rotatably arranged in the first shell, and one end of the first magnetic gear assembly extends out of the other end of the first shell and is used to output the third steering force; an electromagnetic clutch, the electromagnetic clutch is arranged between the outer rotor core and the first shell.

[0015] In some embodiments, the active steering system further includes: a power steering module, the power steering module including: a second stator, a second inner rotor and a second magnetic gear assembly; wherein, the second stator includes: a second stator core, a second stator winding and a ninth permanent magnet array, the second stator winding and the ninth permanent magnet array are respectively arranged on the inner side of the second stator core; the second inner rotor includes: a second inner rotor core and a tenth permanent magnet array, the second inner rotor core is rotatably arranged on the inner side of the stator core, and the second inner rotor core is used to output a fourth steering force, the second inner rotor core and the output end of the first magnetic gear assembly are coaxially connected, the tenth permanent magnet array is arranged on the outer side of the second inner rotor core along the circumference of the second inner rotor core; the second magnetic gear assembly includes: a second magnetic adjustment rotor core and a second magnetic adjustment ring, the second adjustment The magnetic rotor core is rotatably arranged between the second stator core and the second inner rotor core, a sixth gap is provided between the second magnetic tuning rotor core and the second stator core, a seventh gap is provided between the second magnetic tuning rotor core and the second inner rotor core, and the second magnetic tuning ring is provided on the second magnetic tuning rotor core along the circumference of the second magnetic tuning rotor core; the second magnetic gear assembly is used to amplify the torque of the fourth steering force according to a second set ratio and superimpose it with the torque of the third steering force to output a fifth steering force; the magnetic pole directions of the ninth permanent magnet array and the tenth permanent magnet array are located in the radial direction of the second inner rotor core, and the adjacent magnetic poles in the ninth permanent magnet array and the tenth permanent magnet array have opposite magnetic properties; the number of pole pairs of the second magnetic tuning ring is equal to the sum of the number of pole pairs of the tenth permanent magnet array and the number of pole pairs of the ninth permanent magnet array.

[0016] In some embodiments, the active steering system further includes: a reversing module, the reversing module including: a reversing rotor, a magnetic adjustment component and a reversing mover; wherein, the reversing rotor includes: a reversing rotor core and an eleventh permanent magnet array, the reversing rotor core and the output end of the first magnetic gear assembly are coaxially connected, and the eleventh permanent magnet array is arranged on the outside of the reversing rotor core along the circumference of the reversing rotor core; the reversing mover includes: a reversing mover core and a twelfth permanent magnet array, the reversing mover core is arranged to slide tangentially along the reversing rotor core, and the twelfth permanent magnet array is arranged on the reversing mover core along the sliding direction of the reversing mover core. on the commutator core; the magnetic adjustment component includes: a plurality of magnetic adjustment magnets and a plurality of non-magnetic media, and the plurality of magnetic adjustment magnets and the plurality of non-magnetic media are alternately arranged between the commutating rotor core and the commutating mover core along the sliding direction of the commutating mover core; the magnetic pole direction of the eleventh permanent magnet array is located in the radial direction of the commutating rotor core, and the magnetic pole direction of the twelfth permanent magnet array is located in the radial direction of the commutating mover core, and the adjacent magnetic poles in the eleventh permanent magnet array and the twelfth permanent magnet array are opposite in magnetism; the number of pole pairs of the magnetic adjustment component is equal to the sum of the number of pole pairs of the eleventh permanent magnet array and the number of pole pairs of the twelfth permanent magnet array.

[0017] In some embodiments, the active steering system also includes: a steering column, which is coaxially connected to the first inner rotor; a steering wheel, which is arranged at an end of the steering column away from the first inner rotor; and a sensor, whose detection end is arranged close to the steering column, and the sensor is used to detect the steering angle and / or torque of the steering column.

[0018] A second aspect of the present disclosure provides a vehicle, comprising: an active steering system eliminating a mechanical transmission device as provided in the first aspect of the present disclosure.

[0019] Since the outer rotor, the first magnetic gear assembly and the first inner rotor adopt the method of magnetic torque coupling transmission to achieve the angular amplification of the first steering force to the third steering force, and a first gap is provided between the outer rotor and the first stator, a second gap is provided between the first magnetic gear assembly and the outer rotor, and a third gap is provided between the first magnetic gear assembly and the first inner rotor, a non-contact transmission structure is formed between the first stator, the outer rotor, the first inner rotor and the first magnetic gear assembly, thereby eliminating the mechanical transmission device in the active steering system and further eliminating the steering shock problem caused by the transmission gap in the mechanical transmission device; thereby, unnecessary power loss caused by the mechanical transmission device is avoided, thereby greatly improving the efficiency of the active steering system; fundamentally eliminating the problem of low reliability caused by the inherent friction, wear, aging, jamming and other characteristics of the mechanical transmission device, thereby greatly improving the reliability of the active steering system; avoiding regular mechanical inspection, maintenance and maintenance of the mechanical transmission device, thereby greatly reducing the use cost of the active steering system.

[0020] Additional aspects and advantages of the present disclosure will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present disclosure will become apparent and readily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0022] FIG1 is a front cross-sectional view of an active steering module in an active steering system eliminating a mechanical transmission device according to an embodiment of the present disclosure;

[0023] FIG2 is a top cross-sectional view of an active steering module in an active steering system eliminating a mechanical transmission device according to an embodiment of the present disclosure;

[0024] 3 is a front cross-sectional view of an active steering module in an active steering system eliminating a mechanical transmission device according to an embodiment of the present disclosure;

[0025] FIG4 is a top cross-sectional view of an active steering module in an active steering system eliminating a mechanical transmission device according to an embodiment of the present disclosure;

[0026] FIG5 is a front cross-sectional view of an active steering module in an active steering system eliminating a mechanical transmission device according to an embodiment of the present disclosure;

[0027] FIG6 is a top cross-sectional view of an active steering module in an active steering system that eliminates a mechanical transmission device according to an embodiment of the present disclosure;

[0028] FIG7 is a top cross-sectional view of an active steering module in an active steering system that eliminates a mechanical transmission device according to an embodiment of the present disclosure;

[0029] FIG8 is a front cross-sectional view of a power steering module and a reversing module in an active steering system eliminating a mechanical transmission device according to an embodiment of the present disclosure;

[0030] FIG9 is a top cross-sectional view of a power steering module in an active steering system eliminating a mechanical transmission device according to an embodiment of the present disclosure;

[0031] FIG10 is a top cross-sectional view of a reversing module in an active steering system eliminating a mechanical transmission device according to an embodiment of the present disclosure;

[0032] FIG11 is a partial front cross-sectional view of a vehicle according to an embodiment of the present disclosure;

[0033] As shown in the figure: 1. Active steering module; 11. First stator; 111. First stator core; 112. First stator winding; 12. Outer rotor; 121. Outer rotor core; 122. First permanent magnet array; 123. Second permanent magnet array; 13. First inner rotor; 131. First inner rotor core; 132. Third permanent magnet array; 14. First magnetic gear assembly; 141. First magnetic adjustment rotor; 1411. First magnetic adjustment rotor core; 1412. First magnetic adjustment ring; 142. First planetary rotor; 1421. First planet carrier; 1422. First planetary gear; 14221. First planetary gear core; 14222. Fourth permanent magnet array; 143. Outer ring gear; 1431. Outer ring gear core; 1432. Fifth permanent magnet array; 144. Second planetary rotor, 1441. Second planet carrier, 1442. Second planetary gear, 14421. Second planetary gear core, 14422. Sixth permanent magnet array; 145. Sun rotor, 1451. Sun rotor core, 1452. Seventh permanent magnet array; 146. Third planetary rotor, 1461. Third planet carrier, 1462. Third planetary gear, 14621. Third planetary gear core, 14622. Eighth permanent magnet array; 147. Fourth gap, 148. Fifth gap; 15. First gap, 16. Second gap, 17. Third gap, 18. First housing, 19. Electromagnetic clutch; 2. Power steering module; 21. Second stator, 211. Second stator core, 212. Second stator winding, 213. Ninth permanent magnet array; 22. Second inner rotor, 221. Second inner rotor core, 222. Tenth permanent magnet array; 23. Second magnetic gear assembly, 231. Second magnetic adjustment rotor core, 232. Second magnetic adjustment ring; 24. Sixth gap, 25. Seventh gap, 26. Second housing; 3. Reversing module; 31. Reversing rotor, 311. Reversing rotor core, 312. Eleventh permanent magnet array; 32. Magnetic adjustment assembly, 321. Adjusting magnet block, 322. Non-magnetic medium; 33. Reversing mover, 331. Reversing mover core, 332. Twelfth permanent magnet array; 34. Third housing; 4. Steering column, 5. Steering wheel, 6. Sensor, 7. Steering rod module, 8. Wheel. DETAILED DESCRIPTION

[0034] The following describes in detail embodiments of the present disclosure, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present disclosure and are not to be construed as limiting the present disclosure. On the contrary, the embodiments of the present disclosure include all variations, modifications, and equivalents that fall within the spirit and scope of the appended claims.

[0035] As shown in Figures 1, 3, and 5, an embodiment of the present disclosure provides an active steering system that eliminates a mechanical transmission device. The active steering module 1 includes an active steering module 1, which includes a first stator 11, an outer rotor 12, a first inner rotor 13, and a first magnetic gear assembly 14. The outer rotor 12 is rotatably disposed on the inner side of the first stator 11, with a first gap 15 defined between the outer rotor 12 and the first stator 11. The first inner rotor 13 is rotatably disposed on the inner side of the outer rotor 12. The first magnetic gear assembly 14 is rotatably disposed between the outer rotor 12 and the first inner rotor 13, with a second gap 16 defined between the first magnetic gear assembly 14 and the outer rotor 12, and a third gap 17 defined between the first magnetic gear assembly 14 and the first inner rotor 13. The first inner rotor 13 is configured to input a first steering force, the outer rotor 12 is configured to output a second steering force, and the first magnetic gear assembly 14 is configured to output the third steering force by superimposing the angle of the first steering force and the angle of the second steering force according to a first set ratio.

[0036] It can be understood that, since the outer rotor 12 is rotatably arranged on the inner side of the first stator 11, and a first gap 15 is provided between the outer rotor 12 and the first stator 11, the outer rotor 12 and the first stator 11 constitute a universal permanent magnet motor, and the universal permanent magnet motor uses the outer rotor 12 to provide the necessary rotation angle for the active steering system. Since the first magnetic gear assembly 14 is rotatably arranged between the outer rotor 12 and the first inner rotor 13, and a second gap 16 is provided between the first magnetic gear assembly 14 and the outer rotor 12, a third gap 16 is provided between the first magnetic gear assembly 14 and the first inner rotor 13. The gap 17 forms a planetary magnetic gear set between the outer rotor 12, the first magnetic gear assembly 14, and the first inner rotor 13. The planetary magnetic gear set uses magnetic torque coupling transmission to superimpose the first steering force angle input from the first inner rotor 13 and the second steering force angle output from the outer rotor 12 according to a first set ratio, and then uses the first magnetic gear assembly 14 to couple and output the superimposed third steering force. In this way, the angular amplification from the first steering force to the third steering force is achieved, thereby effectively improving the performance of the active steering system and ensuring the vehicle's handling stability under complex working conditions.

[0037] Among them, since the outer rotor 12, the first magnetic gear assembly 14 and the first inner rotor 13 adopt a magnetic torque coupling transmission method to achieve the angular amplification of the first steering force to the third steering force, and a first gap 15 is provided between the outer rotor 12 and the first stator 11, a second gap 16 is provided between the first magnetic gear assembly 14 and the outer rotor 12, and a third gap 17 is provided between the first magnetic gear assembly 14 and the first inner rotor 13, a non-contact transmission structure is formed among the first stator 11, the outer rotor 12, the first inner rotor 13 and the first magnetic gear assembly 14, thereby eliminating the mechanical transmission device in the active steering system and further eliminating the steering shock problem caused by the transmission gap in the mechanical transmission device.

[0038] In this way, unnecessary power loss caused by the mechanical transmission device is avoided, thereby greatly improving the efficiency of the active steering system; the low reliability problem caused by the inherent friction, wear, aging, and jamming characteristics of the mechanical transmission device is fundamentally eliminated, thereby greatly improving the reliability of the active steering system; and regular mechanical inspection, care and maintenance of the mechanical transmission device is avoided, thereby greatly reducing the use cost of the active steering system.

[0039] It should be noted that when the universal permanent magnet motor formed by the outer rotor 12 and the first stator 11 is energized, the outer rotor 12 outputs a third steering force to provide the necessary steering angle for the active steering system. The specific type of the universal permanent magnet motor can be set according to actual needs. For example, the universal permanent magnet motor can be a brushless DC motor, a permanent magnet synchronous motor, etc.

[0040] The first inner rotor 13 is used to input a first steering force, which is externally input and used as steering force. The specific type of the first inner rotor 13 can be set according to actual needs.

[0041] The first magnetic gear assembly 14 is coupled to the outer rotor 12 and the first inner rotor 13 to achieve superposition of the first steering force angle and the second steering force angle. The specific type of the first magnetic gear assembly 14 can be set according to actual needs. The first set ratio can be determined based on the magnetic pole arrangement and distance between the outer rotor 12, the first magnetic gear assembly 14, and the first inner rotor 13.

[0042] As shown in Figures 1, 2, 3, 4, 5, 6 and 7, in some embodiments, the first stator 11 includes a first stator core 111 and a first stator winding 112, and the first stator winding 112 is arranged on the inner side of the first stator core 111 along the circumferential direction of the first stator core 111; the outer rotor 12 includes an outer rotor core 121, a first permanent magnet array 122 and a second permanent magnet array 123, the outer rotor core 121 is rotatably arranged on the inner side of the first stator core 111, and a first gap 15 is provided between the outer rotor core 121 and the first stator core 111, the first permanent magnet array 122 is arranged on the outer side of the outer rotor core 121 along the circumferential direction of the outer rotor core 121, and the second permanent magnet array 123 is arranged on the outer side of the outer rotor core 121 along the circumferential direction of the outer rotor core 121. The sub-core 121 is circumferentially arranged on the inner side of the outer rotor core 121; the first inner rotor 13 includes a first inner rotor core 131 and a third permanent magnet array 132, the first inner rotor core 131 is rotatably arranged on the inner side of the outer rotor core 121, and the first inner rotor core 131 is used to input a first steering force, the first magnetic gear assembly 14 is rotatably arranged between the outer rotor core 121 and the first inner rotor core 131, a second gap 16 is arranged between the first magnetic gear assembly 14 and the outer rotor core 121, a third gap 17 is arranged between the first magnetic gear assembly 14 and the first inner rotor core 131, and the third permanent magnet array 132 is arranged on the outer side of the first inner rotor core 131 along the circumferential direction of the first inner rotor core 131.

[0043] Among them, the magnetic pole directions of the first permanent magnet array 122, the second permanent magnet array 123 and the third permanent magnet array 132 are located in the radial direction of the first inner rotor core 131, and the adjacent magnetic poles in the first permanent magnet array 122, the second permanent magnet array 123 and the third permanent magnet array 132 are magnetically opposite, and the magnetic poles of the first permanent magnet array 122 and the magnetic poles of the second permanent magnet array 123 are arranged opposite to each other and have opposite magnetic properties.

[0044] It can be understood that, by configuring the first stator winding 112, the first permanent magnet array 122, the second permanent magnet array 123 and the third permanent magnet array 132, the first stator 11, the outer rotor 12, the first magnetic gear assembly 14 and the first inner rotor 13 can be coupled and transmitted with magnetic torque, thereby achieving the superposition of the first steering force angle and the second steering force angle, thereby ensuring the high-performance operation of the active steering system.

[0045] Among them, the setting of the first stator core 111 is utilized to realize the setting of the first stator winding 112 and cooperate with the first stator winding 112 to form a part of the magnetic torque coupling transmission path; the setting of the outer rotor core 121 is utilized to realize the setting of the first permanent magnet array 122 and the second permanent magnet array 123 and cooperate with the first permanent magnet array 122 and the second permanent magnet array 123 to form a part of the magnetic torque coupling transmission path; the setting of the first inner rotor core 131 is utilized to realize the setting of the third permanent magnet array 132 and cooperate with the third permanent magnet array 132 to form a part of the magnetic torque coupling transmission path, thereby ensuring stable magnetic torque coupling transmission between the outer rotor 12, the first magnetic gear assembly 14 and the first inner rotor 13.

[0046] At the same time, since the magnetic pole directions of the first permanent magnet array 122, the second permanent magnet array 123 and the third permanent magnet array 132 are located in the radial direction of the first inner rotor core 131, and the adjacent magnetic poles in the first permanent magnet array 122, the second permanent magnet array 123 and the third permanent magnet array 132 are magnetically opposite, the magnetic poles of the first permanent magnet array 122 and the magnetic poles of the second permanent magnet array 123 are arranged relative to each other and have opposite magnetic properties, stable magnetic torque coupling transmission can be achieved between the outer rotor 12, the first magnetic gear assembly 14 and the first inner rotor 13, thereby ensuring the stable superposition of the first steering force angle and the second steering force angle.

[0047] It should be noted that since the magnetic pole directions of the first permanent magnet array 122, the second permanent magnet array 123 and the third permanent magnet array 132 are located in the radial direction of the first inner rotor core 131, and the adjacent magnetic poles in the first permanent magnet array 122, the second permanent magnet array 123 and the third permanent magnet array 132 are opposite in magnetic properties, the inner and outer side surfaces of the first permanent magnet array 122 are both array structures in which the N poles and S poles are alternately distributed along the circumference of the outer rotor core 121, the inner and outer side surfaces of the second permanent magnet array 123 are both array structures in which the N poles and S poles are alternately distributed along the circumference of the outer rotor core 121, and the inner and outer side surfaces of the third permanent magnet array 132 are both array structures in which the N poles and S poles are alternately distributed along the circumference of the first inner rotor core 131.

[0048] Since the magnetic poles of the first permanent magnet array 122 and the magnetic poles of the second permanent magnet array 123 are arranged opposite to each other and have opposite magnetic properties, the first permanent magnet array 122 and the second permanent magnet array 123 have the same arrangement structure, wherein the first permanent magnet array 122 and the second permanent magnet array 123 have the same number of pole pairs.

[0049] As shown in Figures 1 and 2, in some embodiments, the first magnetic gear assembly 14 includes a first magnetic tuning rotor 141, which includes a first magnetic tuning rotor core 1411 and a first magnetic tuning ring 1412. The first magnetic tuning rotor core 1411 is rotatably arranged between the outer rotor core 121 and the first inner rotor core 131, and the first magnetic tuning rotor core 1411 is used to output a third steering force. A second gap 16 is provided between the first magnetic tuning rotor core 1411 and the outer rotor core 121, and a third gap 17 is provided between the first magnetic tuning rotor core 1411 and the first inner rotor core 131. The first magnetic tuning ring 1412 is provided on the first magnetic tuning rotor core 1411 along the circumference of the first magnetic tuning rotor core 1411, wherein the number of pole pairs of the first magnetic tuning ring 1412 is equal to the sum of the number of pole pairs of the first permanent magnet array 122 and the number of pole pairs of the third permanent magnet array 132.

[0050] It can be understood that, since the first magnetic adjustment rotor core 1411 is rotatably arranged between the outer rotor core 121 and the first inner rotor core 131, and the first magnetic adjustment ring 1412 is arranged on the first magnetic adjustment rotor core 1411 along the circumference of the first magnetic adjustment rotor core 1411, the first magnetic adjustment ring 1412 can cooperate with the first permanent magnet array 122, the second permanent magnet array 123 and the third permanent magnet array 132, so that a concentric planetary magnetic gear set is formed between the outer rotor 12, the first magnetic gear assembly 14 and the first inner rotor 13, and the concentric planetary magnetic gear set is formed. The star magnetic gear set cooperates with the universal permanent magnet motor composed of the outer rotor 12 and the first stator 11 to form the structure of a magnetic gear compound motor. As a result, the magnetic torque coupling transmission between the stator winding, the first permanent magnet array 122, the second permanent magnet array 123, the third permanent magnet array 132 and the first magnetic adjustment ring 1412 is utilized, so that the angle of the first steering force and the angle of the second steering force can be superimposed according to a first set ratio and the superimposed third steering force can be output using the first magnetic adjustment rotor core 1411, thereby ensuring the high performance operation of the active steering system.

[0051] Among them, since the number of pole pairs of the first magnetic tuning ring 1412 is equal to the sum of the number of pole pairs of the first permanent magnetic array 122 and the number of pole pairs of the third permanent magnetic array 132, the first magnetic tuning ring 1412 can be efficiently coupled with the first permanent magnetic array 122, the second permanent magnetic array 123 and the third permanent magnetic array 132 respectively, thereby realizing stable transmission of magnetic torque and ensuring the amplification of the turning angle from the first steering force to the third steering force.

[0052] By utilizing the setting of the first magnetic adjustment rotor core 1411, the setting of the first magnetic adjustment ring 1412 is realized, and the first magnetic adjustment ring 1412 cooperates to form a part of the magnetic torque coupling transmission path, thereby ensuring stable magnetic torque coupling transmission between the outer rotor 12, the first magnetic gear assembly 14 and the first inner rotor 13.

[0053] It should be noted that, since the number of pole pairs of the first permanent magnet array 122 is equal to the number of pole pairs of the second permanent magnet array 123, the number of pole pairs of the first magnetic tuning ring 1412 is equal to the sum of the number of pole pairs of the first permanent magnet array 122 and the number of pole pairs of the third permanent magnet array 132. This can also be expressed as the number of pole pairs of the first magnetic tuning ring 1412 is equal to the sum of the number of pole pairs of the second permanent magnet array 123 and the number of pole pairs of the third permanent magnet array 132.

[0054] As shown in Figures 3 and 4, in some embodiments, the first magnetic gear assembly 14 includes a first planetary rotor 142, the first planetary rotor 142 includes a first planetary carrier 1421 and a plurality of first planetary gears 1422, the first planetary carrier 1421 is rotatably disposed between the outer rotor core 121 and the first inner rotor core 131, and the first planetary carrier 1421 is used to output a third steering force, a second gap 16 is provided between the first planetary carrier 1421 and the outer rotor core 121, a third gap 17 is provided between the first planetary carrier 1421 and the first inner rotor core 131, the first planetary gear 1422 includes a first planetary gear core 14221 and a fourth permanent magnet array 14222, and the plurality of first planetary gear cores 14221 are arranged in a first row along the circumference of the first planetary carrier 1421. On the planetary carrier 1421, the fourth permanent magnet array 14222 is arranged on the first planetary gear core 14221 along the circumference of the first planetary gear core 14221, wherein the magnetic pole direction of the fourth permanent magnet array 14222 is located in the radial direction of the first planetary gear core 14221, and the magnetic properties of adjacent magnetic poles in the fourth permanent magnet array 14222 are opposite. The sum of the number of pole pairs of the third permanent magnet array 132 and twice the number of pole pairs of the fourth permanent magnet array 14222 is equal to the number of pole pairs of the first permanent magnet array 122. The ratio of the radius of the outer rotor core 121 to the number of pole pairs of the first permanent magnet array 122, the ratio of the radius of the first inner rotor core 131 to the number of pole pairs of the third permanent magnet array 132, and the ratio of the radius of the first planetary gear core 14221 to the number of pole pairs of the fourth permanent magnet array 14222 are equal.

[0055] It can be understood that, since the first planet carrier 1421 is rotatably arranged between the outer rotor core 121 and the first inner rotor core 131, and the plurality of first planetary gear cores 14221 are arranged on the first planet carrier 1421 along the circumference of the first planetary gear core 14221, the fourth permanent magnet array 14222 is arranged on the first planetary gear core 14221 along the circumference of the first planetary gear core 14221, so that the plurality of fourth permanent magnet arrays 14222 can cooperate with the first permanent magnet array 122, the second permanent magnet array 123 and the third permanent magnet array 132, so that the outer rotor 12, the first magnetic gear assembly 14 and the fourth permanent magnet array ... A planetary magnetic gear set is formed between the inner rotor 13, and the planetary magnetic gear set cooperates with the universal permanent magnet motor composed of the outer rotor 12 and the first stator 11 to form the structure of a planetary magnetic gear compound motor. Therefore, by utilizing the magnetic torque coupling transmission between the stator winding, the first permanent magnet array 122, the second permanent magnet array 123, the third permanent magnet array 132 and the multiple fourth permanent magnet arrays 14222, the angle of the first steering force and the angle of the second steering force can be superimposed according to a first set ratio and the superimposed third steering force can be output using the first planet carrier 1421, thereby ensuring the high performance operation of the active steering system.

[0056] Among them, because the magnetic pole direction of the fourth permanent magnet array 14222 is located in the radial direction of the first planetary gear core 14221, and the magnetic properties of adjacent magnetic poles in the fourth permanent magnet array 14222 are opposite, the sum of the number of pole pairs of the third permanent magnet array 132 and twice the number of pole pairs of the fourth permanent magnet array 14222 is equal to the number of pole pairs of the first permanent magnet array 122, the ratio of the radius of the outer rotor core 121 to the number of pole pairs of the first permanent magnet array 122, the ratio of the radius of the first inner rotor core 131 to the number of pole pairs of the third permanent magnet array 132, and the ratio of the radius of the first planetary gear core 14221 to the number of pole pairs of the fourth permanent magnet array 14222 are equal, the multiple fourth permanent magnet arrays 14222 can be efficiently coupled with the first permanent magnet array 122, the second permanent magnet array 123, and the third permanent magnet array 132, respectively, thereby achieving stable transmission of magnetic torque and ensuring the amplification of the angle of the first steering force to the third steering force.

[0057] By utilizing the setting of the first planetary gear core 14221, the setting of the fourth permanent magnet array 14222 is realized, and the fourth permanent magnet array 14222 constitutes a part of the magnetic torque coupling transmission path, ensuring stable magnetic torque coupling transmission between the outer rotor 12, the first magnetic gear assembly 14 and the first inner rotor 13.

[0058] It should be noted that since the magnetic pole direction of the fourth permanent magnet array 14222 is located in the radial direction of the first planetary gear core 14221, and the magnetic properties of adjacent magnetic poles in the fourth permanent magnet array 14222 are opposite, the inner and outer side surfaces of the fourth permanent magnet array 14222 are both array structures in which the N poles and S poles are alternately distributed along the circumference of the first planetary gear core 14221.

[0059] Since the number of pole pairs of the first permanent magnet array 122 is equal to the number of pole pairs of the second permanent magnet array 123, the sum of the number of pole pairs of the third permanent magnet array 132 and twice the number of pole pairs of the fourth permanent magnet array 14222 is equal to the number of pole pairs of the first permanent magnet array 122. This can also be expressed as the sum of the number of pole pairs of the third permanent magnet array 132 and twice the number of pole pairs of the fourth permanent magnet array 14222 is equal to the number of pole pairs of the second permanent magnet array 123. The ratio of the radius of the outer rotor core 121 to the number of pole pairs of the first permanent magnet array 122, the ratio of the radius of the first inner rotor core 131 to the number of pole pairs of the third permanent magnet array 132, and the ratio of the radius of the first planetary gear core 14221 to the number of pole pairs of the fourth permanent magnet array 14222 are equal. This can also be expressed as the ratio of the radius of the outer rotor core 121 to the number of pole pairs of the second permanent magnet array 123, the ratio of the radius of the first inner rotor core 131 to the number of pole pairs of the third permanent magnet array 132, and the ratio of the radius of the first planetary gear core 14221 to the number of pole pairs of the fourth permanent magnet array 14222 are equal.

[0060] The specific number of the first planetary gears 1422 can be set according to actual needs. For example, the number of the first planetary gears 1422 can be two, four, etc.

[0061] As shown in Figures 5, 6 and 7, in some embodiments, the first magnetic gear assembly 14 includes an outer ring gear 143, a second planetary rotor 144, a sun rotor 145 and a third planetary rotor 146. The outer ring gear 143 includes an outer ring gear core 1431 and a fifth permanent magnet array 1432. The first inner rotor core 131 is rotatably arranged on the inner side of the outer ring gear core 1431. The fifth permanent magnet array 1432 is arranged on the inner side of the outer ring gear core 1431 along the circumference of the outer ring gear core 1431. The second planetary rotor 144 includes a second planet carrier 1441 and a plurality of second planetary gears 1442. The second planet carrier 1441 is rotatably arranged between the outer ring gear core 1431 and the first inner rotor core 131. A fourth gap 147 is provided between the second planet carrier 1441 and the outer ring gear core 1431. The second planetary gears 1442 are A third gap 17 is provided between the frame 1441 and the first inner rotor core 131, the second planetary gear 1442 includes a second planetary gear core 14421 and a sixth permanent magnet array 14422, multiple second planetary gear cores 14421 are arranged on the second planetary frame 1441 along the circumference of the second planetary gear core 1441, the sixth permanent magnet array 14422 is arranged on the second planetary gear core 14421 along the circumference of the second planetary gear core 14421, the sun rotor 145 includes a sun rotor core 1451 and a seventh permanent magnet array 1452, the sun rotor core 1451 is rotatably arranged on the inner side of the outer rotor core 121, and the sun rotor core 1451 is used to output a third steering force, and the seventh permanent magnet array 1452 is arranged on the outer side of the sun rotor core 1451 along the circumference of the sun rotor core 1451. The third planetary rotor 146 includes a third planetary carrier 1461 and a plurality of third planetary gears 1462. The third planetary carrier 1461 is coaxially connected to the second planetary carrier 1441, and the third planetary carrier 1461 is rotatably arranged between the outer rotor core 121 and the sun rotor core 1451. A second gap 16 is arranged between the third planetary carrier 1461 and the outer rotor core 121, and a fifth gap 148 is arranged between the third planetary carrier 1461 and the sun rotor core 1451. The third planetary gear 1462 includes a third planetary gear core 14621 and an eighth permanent magnet array 14622. A plurality of third planetary gear cores 14621 are arranged on the third planetary carrier 1461 along the circumference of the third planetary carrier 1461, and the eighth permanent magnet array 14622 is arranged on the third planetary gear core 14621 along the circumference of the third planetary carrier 1461.

[0062] The magnetic pole directions of the fifth permanent magnet array 1432, the sixth permanent magnet array 14422, the seventh permanent magnet array 1452, and the eighth permanent magnet array 14622 are located in the radial direction of the first inner rotor core 131, and the magnetic properties of adjacent magnetic poles in the fifth permanent magnet array 1432, the sixth permanent magnet array 14422, the seventh permanent magnet array 1452, and the eighth permanent magnet array 14622 are opposite, and the number of pole pairs of the fifth permanent magnet array 1432 is equal to that of the sixth permanent magnet array. The sum of the pole pairs of the first permanent magnet array 122 and the pole pairs of the second permanent magnet array 14422, the pole pairs of the first permanent magnet array 122 is equal to the sum of the pole pairs of the second permanent magnet array 14422 and the pole pairs of the third permanent magnet array 132, the pole pairs of the first permanent magnet array 122 is equal to the sum of the pole pairs of the second permanent magnet array 14422 and the pole pairs of the seventh permanent magnet array 1452, the ratio of the radius of the outer gear ring core 1431 to the pole pairs of the fifth permanent magnet array 1432, the ratio of the radius of the second planetary gear core 14421 to the pole pairs of the sixth permanent magnet array 14422, and the first inner rotor core The ratio of the radius of the outer rotor core 121 to the pole pair number of the first permanent magnet array 122 is equal to the ratio of the radius of the outer rotor core 121 to the pole pair number of the first permanent magnet array 122, the ratio of the radius of the third planetary gear core 14621 to the pole pair number of the eighth permanent magnet array 14622, and the ratio of the radius of the sun rotor core 1451 to the pole pair number of the seventh permanent magnet array 1452 are equal to the ratio of the radius of the sun rotor core 1451 to the pole pair number of the seventh permanent magnet array 1452. The pole pair number of the first permanent magnet array 122 is equal to the pole pair number of the fifth permanent magnet array 1432. The number of pole pairs of the third permanent magnet array 132 is equal to the number of pole pairs of the seventh permanent magnet array 1452, the number of pole pairs of the sixth permanent magnet array 14422 is equal to the number of pole pairs of the eighth permanent magnet array 14622, the radius of the outer rotor core 121 is equal to the radius of the outer ring gear core 1431, the radius of the second planetary gear core 14421 is equal to the radius of the third planetary gear core 14621, and the radius of the first inner rotor core 131 is equal to the radius of the sun rotor core 1451.

[0063] It can be understood that since the second planet carrier 1441 is rotatably arranged between the outer ring gear core 1431 and the first inner rotor core 131, and multiple second planetary gear cores 14421 are arranged on the second planet carrier 1441 along the circumference of the second planet carrier 1441, the sixth permanent magnet array 14422 is arranged on the second planetary gear core 14421 along the circumference of the second planetary gear core 14421, and the fifth permanent magnet array 1432 is arranged on the inner side of the outer ring gear core 1431 along the circumference of the outer ring gear core 1431, so that the multiple sixth permanent magnet arrays 14422 can cooperate with the fifth permanent magnet array 1432 and the third permanent magnet array 132, so that the first planetary magnetic gear set is formed between the outer ring gear 143, the second planetary rotor 144 and the first inner rotor 13.

[0064] Since the third planetary carrier 1461 is rotatably arranged between the outer rotor core 121 and the sun rotor core 1451, and multiple third planetary gear cores 14621 are arranged on the third planetary carrier 1461 along the circumference of the third planetary carrier 1461, the eighth permanent magnet array 14622 is arranged on the third planetary gear core 14621 along the circumference of the third planetary gear core 14621, and the seventh permanent magnet array 1452 is arranged on the outside of the sun rotor core 1451 along the circumference of the sun rotor core 1451, so that the multiple eighth permanent magnet arrays 14622 can cooperate with the seventh permanent magnet array 1452 and the second permanent magnet array 123, so that a second planetary magnetic gear set is formed between the outer rotor 12, the third planetary rotor 146 and the sun rotor 145.

[0065] And because the third planet carrier 1461 and the second planet carrier 1441 are coaxially connected, the first planetary magnetic gear set and the second planetary magnetic gear set constitute a compound planetary magnetic gear set. The compound planetary magnetic gear set cooperates with the universal permanent magnet motor composed of the outer rotor 12 and the first stator 11 to form the structure of a dual planetary magnetic gear compound motor. Therefore, by utilizing the magnetic torque coupling transmission between the stator winding, the first permanent magnet array 122, the second permanent magnet array 123, the seventh permanent magnet array 1452 and the multiple eighth permanent magnet arrays 14622, and the magnetic torque coupling transmission between the third permanent magnet array 132, the fifth permanent magnet array 1432 and the multiple sixth permanent magnet arrays 14422, the angle of the first steering force and the angle of the second steering force can be superimposed according to the first set ratio and the superimposed third steering force can be output using the sun rotor iron core 1451, thereby ensuring the high performance operation of the active steering system.

[0066] Among them, since the magnetic pole directions of the fifth permanent magnet array 1432 and the sixth permanent magnet array 14422 are located in the radial direction of the first inner rotor core 131, and the adjacent magnetic poles in the fifth permanent magnet array 1432 and the sixth permanent magnet array 14422 are magnetically opposite, the pole pair number of the fifth permanent magnet array 1432 is equal to the sum of twice the pole pair number of the sixth permanent magnet array 14422 and the pole pair number of the third permanent magnet array 132, the ratio of the radius of the outer ring gear core 1431 to the pole pair number of the fifth permanent magnet array 1432, the ratio of the radius of the second planetary gear core 14421 to the pole pair number of the sixth permanent magnet array 14422, and the ratio of the radius of the first inner rotor core 131 to the pole pair number of the third permanent magnet array 132 are equal, so that the multiple sixth permanent magnet arrays 14422 can be efficiently coupled with the fifth permanent magnet array 1432 and the third permanent magnet array 132 respectively, thereby achieving stable transmission of magnetic torque and ensuring the amplification of the turning angle from the first steering force to the third steering force.

[0067] Since the magnetic pole directions of the seventh permanent magnet array 1452 and the eighth permanent magnet array 14622 are located in the radial direction of the first inner rotor core 131, and the magnetic properties of adjacent magnetic poles in the seventh permanent magnet array 1452 and the eighth permanent magnet array 14622 are opposite, the number of pole pairs of the first permanent magnet array 122 is equal to the sum of twice the number of pole pairs of the eighth permanent magnet array 14622 and the number of pole pairs of the seventh permanent magnet array 1452. The radius of the outer rotor core 121 and the number of pole pairs of the first permanent magnet array 122 are equal to the sum of twice the number of pole pairs of the eighth permanent magnet array 14622 and the number of pole pairs of the seventh permanent magnet array 1452. The ratio of the radius of the third planetary gear core 14621 to the pole pair number of the eighth permanent magnet array 14622, and the ratio of the radius of the sun rotor core 1451 to the pole pair number of the seventh permanent magnet array 1452 are equal, so that the multiple eighth permanent magnet arrays 14622 can be efficiently coupled with the first permanent magnet array 122, the second permanent magnet array 123 and the seventh permanent magnet array 1452 respectively, thereby realizing stable transmission of magnetic torque and ensuring the amplification of the turning angle from the first steering force to the third steering force.

[0068] Since the number of pole pairs of the first permanent magnet array 122 is equal to the number of pole pairs of the fifth permanent magnet array 1432, and the number of pole pairs of the third permanent magnet array 132 is equal to the number of pole pairs of the seventh permanent magnet array 1452, and the number of pole pairs of the sixth permanent magnet array 14422 is equal to the number of pole pairs of the eighth permanent magnet array 14622, the radius of the outer rotor core 121 is equal to the radius of the outer gear ring core 1431, the radius of the second planetary gear core 14421 is equal to the radius of the third planetary gear core 14621, and the first inner rotor The radius of the iron core 131 is equal to the radius of the sun rotor iron core 1451, so that the magnetic torque coupling transmission between the multiple sixth permanent magnet arrays 14422 and the fifth permanent magnet array 1432 and the third permanent magnet array 132 can be efficiently adapted to the magnetic torque coupling transmission of the multiple eighth permanent magnet arrays 14622 and the first permanent magnet array 122, the second permanent magnet array 123 and the seventh permanent magnet array 1452, thereby realizing the stable transmission of the magnetic torque and ensuring the amplification of the turning angle from the first steering force to the third steering force.

[0069] The outer gear ring core 1431 enables the fifth permanent magnet array 1432 to be configured and, in conjunction with the fifth permanent magnet array 1432, to form a portion of the magnetic torque coupling transmission path. The second planetary gear core 14421 enables the sixth permanent magnet array 14422 to be configured and, in conjunction with the sixth permanent magnet array 14422, to form a portion of the magnetic torque coupling transmission path. The sun rotor core 1451 enables the seventh permanent magnet array 1452 to be configured and, in conjunction with the seventh permanent magnet array 1452, to form a portion of the magnetic torque coupling transmission path. The third planetary gear core 14621 enables the eighth permanent magnet array 14622 to be configured and, in conjunction with the eighth permanent magnet array 14622, to form a portion of the magnetic torque coupling transmission path. This ensures stable magnetic torque coupling transmission between the outer rotor 12, the first magnetic gear assembly 14, and the first inner rotor 13.

[0070] It should be noted that the magnetic pole directions of the fifth permanent magnet array 1432, the sixth permanent magnet array 14422, the seventh permanent magnet array 1452 and the eighth permanent magnet array 14622 are located in the radial direction of the first inner rotor core 131, and the magnetic properties of the adjacent magnetic poles in the fifth permanent magnet array 1432, the sixth permanent magnet array 14422, the seventh permanent magnet array 1452 and the eighth permanent magnet array 14622 are opposite, so that the inner side surface and the outer side surface of the fifth permanent magnet array 1432 are both N-pole and S-pole along the outer gear ring core 14 31 The inner and outer sides of the sixth permanent magnet array 14422 are both array-like structures in which the N poles and S poles are alternately distributed along the circumference of the second planetary gear core 14421; the inner and outer sides of the seventh permanent magnet array 1452 are both array-like structures in which the N poles and S poles are alternately distributed along the circumference of the sun rotor core 1451; the inner and outer sides of the eighth permanent magnet array 14622 are both array-like structures in which the N poles and S poles are alternately distributed along the circumference of the third planetary gear core 14621.

[0071] The specific number of the second planetary gears 1442 and the third planetary gears 1462 can be set according to actual needs. For example, the number of the second planetary gears 1442 and the third planetary gears 1462 can be two, four, etc.

[0072] As shown in Figures 1, 2, 3, 4, 5, 6 and 7, in some embodiments, the active steering module 1 also includes a first housing 18 and an electromagnetic clutch 19, the first stator core 111 is arranged in the first housing 18, the outer rotor core 121 is rotatably arranged in the first housing 18, the first inner rotor core 131 is rotatably arranged in the first housing 18, and one end of the first inner rotor core 131 extends out of one end of the first housing 18 and is used to input a first steering force, the first magnetic gear assembly 14 is rotatably arranged in the first housing 18, and one end of the first magnetic gear assembly 14 extends out of the other end of the first housing 18 and is used to output a third steering force, and the electromagnetic clutch 19 is arranged between the outer rotor core 121 and the first housing 18.

[0073] It can be understood that by arranging the first stator core 111, the outer rotor core 121, the first inner rotor core 131 and the first magnetic gear assembly 14 in the first housing 18 at the same time, not only the space occupied by the active steering module 1 is reduced, making it easier to disassemble and assemble the active steering module 1, but also a relatively stable arrangement is achieved among the first stator 11, the outer rotor 12, the first inner rotor 13 and the first magnetic gear assembly 14, thereby ensuring high-performance operation of the active steering system.

[0074] The electromagnetic clutch 19 enables the outer rotor core 121 to engage and disengage with the first housing 18. When the outer rotor core 121 is separated from the first housing 18, it can rotate within the first housing 18. At this point, the outer rotor 12 can cooperate with the first stator 11 to output a second steering force, thereby causing the first magnetic gear assembly 14 to output a third steering force by superimposing the first steering force angle input by the first inner rotor 13 and the second steering force angle output by the outer rotor 12 according to a first set ratio. When the outer rotor core 121 is engaged with the first housing 18, it cannot rotate within the first housing 18. At this point, the outer rotor 12 cannot output the second steering force, thereby causing the first magnetic gear assembly 14 to output the first steering force. This achieves on / off control of the active steering module 1, thereby ensuring the flexible operation of the active steering system.

[0075] It should be noted that the arrangement of the outer rotor core 121 , the first inner rotor core 131 and the first magnetic gear assembly 14 in the first housing 18 can be arranged according to actual needs. For example, the first end of the first inner rotor core 131 is connected to the first shell 18 through a bearing, wherein the first end of the first magnetically adjustable rotor core 1411 is connected to the first shell 18 through a bearing, the second end of the first magnetically adjustable rotor core 1411 is connected to the second end of the first inner rotor core 131 through a bearing, the first end of the outer rotor core 121 is connected to the first end of the first inner rotor core 131 through a bearing, and the second end of the outer rotor core 121 is connected to the first end of the first magnetically adjustable rotor core 1411 through a bearing; the first end of the first planetary carrier 1421 is connected to the first shell 18 through a bearing, the second end of the first planetary carrier 1421 is connected to the second end of the first inner rotor core 131 through a bearing, the first end of the outer rotor core 121 is connected to the first end of the first inner rotor core 131 through a bearing, and the second end of the first planetary carrier 1421 is connected to the first end of the first magnetically adjustable rotor core 1411 through a bearing.

[0076] The electromagnetic clutch 19, also known as the electromagnetic coupling, is an electromagnetic mechanical connector that uses the principle of electromagnetic induction and the friction between the inner and outer friction plates to achieve the connection or separation of the outer rotor core 121 and the first shell 18. The specific type of the electromagnetic clutch 19 can be set according to actual needs.

[0077] As shown in Figures 8 and 9, in some embodiments, the active steering system further includes a power steering module 2, which includes a second stator 21, a second inner rotor 22, and a second magnetic gear assembly 23, wherein the second stator 21 includes a second stator core 211, a second stator winding 212, and a ninth permanent magnet array 213, the second stator winding 212 and the ninth permanent magnet array 213 are respectively arranged on the inner side of the second stator core 211, the second inner rotor 22 includes a second inner rotor core 221 and a tenth permanent magnet array 222, the second inner rotor core 221 is rotatably arranged on the inner side of the stator core, and the second inner rotor core 221 is used to output a fourth steering force, the second inner rotor core 221 and the first The output end of the magnetic gear assembly 14 is coaxially connected. The tenth permanent magnet array 222 is arranged on the outside of the second inner rotor core 221 along the circumference of the second inner rotor core 221. The second magnetic gear assembly 23 includes a second magnetic tuning rotor core 231 and a second magnetic tuning ring 232. The second magnetic tuning rotor core 231 is rotatably arranged between the second stator core 211 and the second inner rotor core 221. A sixth gap 24 is provided between the second magnetic tuning rotor core 231 and the second stator core 211. A seventh gap 25 is provided between the second magnetic tuning rotor core 231 and the second inner rotor core 221. The second magnetic tuning ring 232 is provided on the second magnetic tuning rotor core 231 along the circumference of the second magnetic tuning rotor core 231.

[0078] The second magnetic gear assembly 23 is used to amplify the torque of the fourth steering force according to a second set ratio and superimpose it with the torque of the third steering force to output a fifth steering force. The magnetic pole directions of the ninth permanent magnet array 213 and the tenth permanent magnet array 222 are located in the radial direction of the second inner rotor core 221, and the magnetic properties of adjacent magnetic poles in the ninth permanent magnet array 213 and the tenth permanent magnet array 222 are opposite. The number of pole pairs of the second magnetic adjustment ring 232 is equal to the sum of the number of pole pairs of the tenth permanent magnet array 222 and the number of pole pairs of the ninth permanent magnet array 213.

[0079] It can be understood that, since the second inner rotor core 221 is rotatably arranged on the inner side of the stator core, and the second stator winding 212 and the ninth permanent magnet array 213 are respectively arranged on the inner side of the second stator core 211, and the tenth permanent magnet array 222 is arranged on the outer side of the second inner rotor core 221 along the circumference of the second inner rotor core 221, the second stator 21 and the second inner rotor 22 constitute a universal permanent magnet motor. The universal permanent magnet motor uses the second inner rotor 22 to provide the necessary torque for the active steering system. Since the second magnetic adjustment rotor core 231 is rotatably arranged between the second stator core 211 and the second inner rotor core 221, and the second magnetic adjustment ring 232 is arranged along the circumference of the second magnetic adjustment rotor The circumference of the iron core 231 is arranged on the second magnetic-adjustable rotor iron core 231, so that the second stator 21, the second magnetic-adjustable rotor and the second inner rotor 22 constitute a magnetic gear reducer, thereby forming a pseudo-direct-drive permanent magnet motor. The pseudo-direct-drive permanent magnet motor uses magnetic torque coupling transmission to amplify the fourth steering force torque output by the second inner rotor 22 according to a second set ratio and superimpose it with the third steering force torque input by the second inner rotor 22 and use the second magnetic-adjustable rotor iron core 231 to output the superimposed fifth steering force. In this way, the torque amplification from the third steering force to the fifth steering force is realized, thereby effectively improving the performance of the active steering system, thereby ensuring the vehicle's handling stability under complex working conditions.

[0080] Among them, since the torque amplification from the third steering force to the fifth steering force is achieved by magnetic torque coupling transmission between the second stator 21, the second inner rotor 22 and the second magnetic gear assembly 23, and a sixth gap 24 is provided between the second magnetic-adjustable rotor core 231 and the second stator core 211, and a seventh gap 25 is provided between the second magnetic-adjustable rotor core 231 and the second inner rotor core 221, a non-contact transmission structure is formed between the second stator 21, the second inner rotor 22 and the second magnetic gear assembly 23, thereby eliminating the mechanical transmission device in the active steering system and further eliminating the steering shock problem caused by the transmission gap in the mechanical transmission device.

[0081] In this way, unnecessary power loss caused by the mechanical transmission device is avoided, thereby greatly improving the efficiency of the active steering system; the low reliability problem caused by the inherent friction, wear, aging, and jamming characteristics of the mechanical transmission device is fundamentally eliminated, thereby greatly improving the reliability of the active steering system; and regular mechanical inspection, care and maintenance of the mechanical transmission device is avoided, thereby greatly reducing the use cost of the active steering system.

[0082] Since the magnetic pole directions of the ninth permanent magnet array 213 and the tenth permanent magnet array 222 are located in the radial direction of the second inner rotor core 221, and the adjacent magnetic poles in the ninth permanent magnet array 213 and the tenth permanent magnet array 222 have opposite magnetic properties, the number of pole pairs of the second magnetic adjustment ring 232 is equal to the sum of the number of pole pairs of the tenth permanent magnet array 222 and the number of pole pairs of the ninth permanent magnet array 213. This allows the second magnetic adjustment ring 232 to be efficiently coupled with the ninth permanent magnet array 213 and the tenth permanent magnet array 222, respectively, thereby achieving stable transmission of magnetic torque and ensuring torque amplification of the third steering force to the fifth steering force.

[0083] By utilizing the setting of the second stator core 211, the setting of the second stator winding 212 and the ninth permanent magnet array 213 is realized, and the second stator winding 212 and the ninth permanent magnet array 213 form a part of the magnetic torque coupling transmission path; by utilizing the setting of the second magnetic tuning rotor core 231, the setting of the second magnetic tuning ring 232 is realized, and the second magnetic tuning ring 232 forms a part of the magnetic torque coupling transmission path; by utilizing the setting of the second inner rotor core 221, the setting of the tenth permanent magnet array 222 is realized, and the tenth permanent magnet array 222 forms a part of the magnetic torque coupling transmission path; thereby, stable magnetic torque coupling transmission between the second stator 21, the second inner rotor 22 and the second magnetic gear assembly 23 is ensured.

[0084] It should be noted that since the magnetic pole directions of the ninth permanent magnet array 213 and the tenth permanent magnet array 222 are located in the radial direction of the second inner rotor core 221, and the magnetic properties of adjacent magnetic poles in the ninth permanent magnet array 213 and the tenth permanent magnet array 222 are opposite, the inner and outer side surfaces of the ninth permanent magnet array 213 are both array structures in which the N poles and S poles are alternately distributed circumferentially along the second stator core 211; the inner and outer side surfaces of the tenth permanent magnet array 222 are both array structures in which the N poles and S poles are alternately distributed circumferentially along the second inner rotor core 221.

[0085] The first magnetic tuning ring 1412 and the second magnetic tuning ring 232 both include a plurality of magnetic conductive bodies and a plurality of non-magnetic conductive bodies, and the plurality of magnetic conductive bodies and the plurality of non-magnetic conductive bodies are alternately distributed along the circumferential direction.

[0086] Among them, the second inner rotor core 221 can be coaxially connected to the first magnetic adjustment rotor core 1411 in the first magnetic gear assembly 14, or coaxially connected to the first planetary carrier 1421 in the first magnetic gear assembly 14, or coaxially connected to the sun rotor core 1451 in the first magnetic gear assembly 14.

[0087] The second stator 21 , the second inner rotor 22 , and the second magnetic gear assembly 23 may be integrated within a second housing 26 .

[0088] As shown in Figures 8 and 10, in some embodiments, the active steering system further includes a reversing module 3, which includes a reversing rotor 31, a magnetic adjustment component 32, and a reversing mover 33, wherein the reversing rotor 31 includes a reversing rotor core 311 and an eleventh permanent magnet array 312, the reversing rotor core 311 and the output end of the first magnetic gear assembly 14 are coaxially connected, the eleventh permanent magnet array 312 is arranged on the outside of the reversing rotor core 311 along the circumference of the reversing rotor core 311, and the reversing mover 33 includes a reversing mover iron core 311. Core 331 and the twelfth permanent magnet array 332, the commutating rotor core 331 is set along the tangential sliding direction of the commutating rotor core 311, the twelfth permanent magnet array 332 is set on the commutating rotor core 331 along the sliding direction of the commutating rotor core 331, the magnetic adjustment component 32 includes a plurality of magnetic adjustment magnet blocks 321 and a plurality of non-magnetic media 322, and the plurality of magnetic adjustment magnet blocks 321 and the plurality of non-magnetic media 322 are alternately set between the commutating rotor core 311 and the commutating rotor core 331 along the sliding direction of the commutating rotor core 331.

[0089] The magnetic pole direction of the eleventh permanent magnet array 312 is located in the radial direction of the commutation rotor core 311, and the magnetic pole direction of the twelfth permanent magnet array 332 is located in the radial direction of the commutation mover core 331. The magnetic properties of adjacent magnetic poles in the eleventh permanent magnet array 312 and the twelfth permanent magnet array 332 are opposite, and the number of pole pairs of the magnetic tuning component 32 is equal to the sum of the number of pole pairs of the eleventh permanent magnet array 312 and the number of pole pairs of the twelfth permanent magnet array 332.

[0090] It can be understood that since multiple magnetic adjustment magnets 321 and multiple non-magnetic media 322 are alternately arranged between the commutating rotor core 311 and the commutating mover core 331 along the sliding direction of the commutating mover core 331, and the eleventh permanent magnet array 312 is arranged on the outside of the commutating rotor core 311 along the circumference of the commutating rotor core 311, and the twelfth permanent magnet array 332 is arranged on the commutating mover core 331 along the sliding direction of the commutating mover core 331, the commutating rotor 31, the magnetic adjustment component 32 and the commutating mover 33 constitute a rotary-linear speed-regulating magnetic gear. The rotary-linear speed-regulating magnetic gear uses magnetic torque coupling transmission to convert the rotational motion of the commutating rotor 31 into the linear motion of the commutating mover 33, thereby utilizing the linear motion of the commutating mover 33 to achieve steering drive to meet the steering requirements of the vehicle.

[0091] Among them, since the conversion of rotational motion to linear motion is achieved by magnetic torque coupling transmission between the commutating rotor 31, the magnetic adjustment component 32 and the commutating mover 33, a non-contact transmission structure is formed between the commutating rotor 31, the magnetic adjustment component 32 and the commutating mover 33, thereby eliminating the mechanical transmission device in the active steering system, and further eliminating the steering impact problem caused by the transmission gap in the mechanical transmission device.

[0092] In this way, unnecessary power loss caused by the mechanical transmission device is avoided, thereby greatly improving the efficiency of the active steering system; the low reliability problem caused by the inherent friction, wear, aging, and jamming characteristics of the mechanical transmission device is fundamentally eliminated, thereby greatly improving the reliability of the active steering system; and regular mechanical inspection, care and maintenance of the mechanical transmission device is avoided, thereby greatly reducing the use cost of the active steering system.

[0093] Since the magnetic pole direction of the eleventh permanent magnet array 312 is located in the radial direction of the commutating rotor core 311, the magnetic pole direction of the twelfth permanent magnet array 332 is located in the radial direction of the commutating mover core 331, and the magnetic properties of adjacent magnetic poles in the eleventh permanent magnet array 312 and the twelfth permanent magnet array 332 are opposite, the number of pole pairs of the magnetic adjustment component 32 is equal to the sum of the number of pole pairs of the eleventh permanent magnet array 312 and the number of pole pairs of the twelfth permanent magnet array 332, so that the multiple magnetic adjustment magnet blocks 321 can be efficiently coupled with the eleventh permanent magnet array 312 and the twelfth permanent magnet array 332 respectively, thereby realizing stable transmission of magnetic torque and ensuring stable conversion from rotational motion to linear motion.

[0094] By utilizing the setting of the commutating rotor core 311, the setting of the eleventh permanent magnet array 312 is realized, and the eleventh permanent magnet array 312 constitutes a part of the magnetic torque coupling transmission path; by utilizing the setting of the commutating mover core 331, the setting of the twelfth permanent magnet array 332 is realized, and the twelfth permanent magnet array 332 constitutes a part of the magnetic torque coupling transmission path; by utilizing the setting of multiple non-magnetic media 322, the interval setting of multiple adjustment magnet blocks 321 is realized, and the multiple adjustment magnet blocks 321 constitute a part of the magnetic torque coupling transmission path; thereby, stable magnetic torque coupling transmission between the commutating rotor 31, the magnetic adjustment component 32 and the commutating mover 33 is guaranteed.

[0095] It should be noted that since the magnetic pole direction of the eleventh permanent magnet array 312 is located in the radial direction of the commutating rotor core 311, the magnetic pole direction of the twelfth permanent magnet array 332 is located in the radial direction of the commutating mover core 331, and the magnetic properties of adjacent magnetic poles in the eleventh permanent magnet array 312 and the twelfth permanent magnet array 332 are opposite, the inner and outer side surfaces of the eleventh permanent magnet array 312 are both array structures in which the N poles and S poles are alternately distributed along the circumferential direction of the commutating rotor core 311; the inner and outer side surfaces of the twelfth permanent magnet array 332 are both array structures in which the N poles and S poles are alternately distributed along the sliding direction of the commutating mover core 331.

[0096] One end of the magnetic adjustment component 32 close to the reversing rotor 31 is an arc structure, and one end of the magnetic adjustment component 32 close to the reversing mover 33 is a planar structure.

[0097] The commutating rotor core 311 can be coaxially connected to the second magnetic tuning rotor core 231 .

[0098] The commutating rotor 31 , the magnetic adjustment assembly 32 and the commutating mover 33 may be integrated into the third housing 34 .

[0099] As shown in Figure 11, in some embodiments, the active steering system also includes a steering column 4, a steering wheel 5 and a sensor 6. The steering column 4 is coaxially connected to the first inner rotor 13. The steering wheel 5 is arranged at the end of the steering column 4 away from the first inner rotor 13. The detection end of the sensor 6 is arranged close to the steering column 4, and the sensor 6 is used to detect the steering angle and / or torque of the steering column 4.

[0100] It can be understood that since the steering column 4 and the first inner rotor 13 are coaxially connected, the steering wheel 5 is arranged at the end of the steering column 4 away from the first inner rotor 13, so that the first steering force can be input into the first inner rotor 13 through the steering wheel 5 and the steering column 4, and through the setting of the sensor 6, the detection of the steering angle and / or torque on the steering column 4 can be achieved, and then the sensor 6 can be used to meet the monitoring requirements of the active steering system.

[0101] It should be noted that the specific type of the sensor 6 can be set according to actual needs. For example, the sensor 6 can be a torque sensor 6, an angle sensor 6, etc.

[0102] As shown in FIG11 , an embodiment of the present disclosure further provides a vehicle, including an active steering system that eliminates a mechanical transmission device as in the embodiment of the present disclosure.

[0103] It can be understood that since the outer rotor 12, the first magnetic gear assembly 14 and the first inner rotor 13 adopt magnetic torque coupling transmission to achieve the angular amplification of the first steering force to the third steering force, and a first gap 15 is provided between the outer rotor 12 and the first stator 11, a second gap 16 is provided between the first magnetic gear assembly 14 and the outer rotor 12, and a third gap 17 is provided between the first magnetic gear assembly 14 and the first inner rotor 13, a non-contact transmission structure is formed among the first stator 11, the outer rotor 12, the first inner rotor 13 and the first magnetic gear assembly 14, thereby eliminating the mechanical transmission device in the active steering system and further eliminating the steering shock problem caused by the transmission gap in the mechanical transmission device.

[0104] In this way, unnecessary power loss caused by the mechanical transmission device is avoided, thereby greatly improving the efficiency of the active steering system; the low reliability problem caused by the inherent friction, wear, aging, and jamming characteristics of the mechanical transmission device is fundamentally eliminated, thereby greatly improving the reliability of the active steering system; and regular mechanical inspection, care and maintenance of the mechanical transmission device is avoided, thereby greatly reducing the use cost of the active steering system.

[0105] It should be noted that the specific type of vehicle can be set according to actual needs. For example, the vehicle can be a fuel vehicle, an electric vehicle, etc.

[0106] Among them, the vehicle includes wheels 8 and a steering rod module 7, the steering rod module 7 and the wheel 8 are connected by transmission, the reversing mover core 331 and the steering rod module 7 are connected by transmission, and the reversing mover core 331 moves to drive the steering rod module 7 to drive the wheel 8 to steer.

[0107] In the description of the present disclosure, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. In addition, in the description of the present disclosure, unless otherwise specified, the meaning of "plurality" is two or more.

[0108] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present disclosure includes additional implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present disclosure belong.

[0109] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0110] Although the embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are illustrative and are not to be construed as limitations on the present disclosure. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present disclosure.

Claims

1. An active steering system without a mechanical transmission device, comprising: An active steering module, the active steering module comprising: a first stator, an outer rotor, a first inner rotor and a first magnetic gear assembly; The outer rotor is rotatably arranged on the inner side of the first stator, and a first gap is arranged between the outer rotor and the first stator, the first inner rotor is rotatably arranged on the inner side of the outer rotor, the first magnetic gear assembly is rotatably arranged between the outer rotor and the first inner rotor, and a second gap is arranged between the first magnetic gear assembly and the outer rotor, and a third gap is arranged between the first magnetic gear assembly and the first inner rotor; The first inner rotor is used to input a first steering force, the outer rotor is used to output a second steering force, and the first magnetic gear assembly is used to output a third steering force after superimposing a rotation angle of the first steering force and a rotation angle of the second steering force according to a first set ratio.

2. The active steering system without mechanical transmission device according to claim 1, wherein: The first stator comprises: a first stator core and a first stator winding, wherein the first stator winding is arranged on the inner side of the first stator core along the circumferential direction of the first stator core; The outer rotor comprises: an outer rotor core, a first permanent magnet array and a second permanent magnet array, the outer rotor core is rotatably arranged on the inner side of the first stator core, and the first gap is arranged between the outer rotor core and the first stator core, the first permanent magnet array is arranged on the outer side of the outer rotor core along the circumferential direction of the outer rotor core, and the second permanent magnet array is arranged on the inner side of the outer rotor core along the circumferential direction of the outer rotor core; The first inner rotor comprises: a first inner rotor core and a third permanent magnet array, the first inner rotor core is rotatably disposed on the inner side of the outer rotor core, and the first inner rotor core is used to input the first steering force, the first magnetic gear assembly is rotatably disposed between the outer rotor core and the first inner rotor core, the second gap is disposed between the first magnetic gear assembly and the outer rotor core, the third gap is disposed between the first magnetic gear assembly and the first inner rotor core, and the third permanent magnet array is disposed on the outer side of the first inner rotor core along the circumferential direction of the first inner rotor core; Among them, the magnetic pole directions of the first permanent magnet array, the second permanent magnet array and the third permanent magnet array are located in the radial direction of the first inner rotor core, and the adjacent magnetic poles in the first permanent magnet array, the second permanent magnet array and the third permanent magnet array are magnetically opposite, and the magnetic poles of the first permanent magnet array and the magnetic poles of the second permanent magnet array are arranged oppositely and have opposite magnetic properties.

3. The active steering system without mechanical transmission device according to claim 2, wherein: The first magnetic gear assembly comprises: A first magnetic adjustment rotor, the first magnetic adjustment rotor comprising: a first magnetic adjustment rotor core and a first magnetic adjustment ring, the first magnetic adjustment rotor core is rotatably arranged between the outer rotor core and the first inner rotor core, and the first magnetic adjustment rotor core is used to output the third steering force, the second gap is arranged between the first magnetic adjustment rotor core and the outer rotor core, the third gap is arranged between the first magnetic adjustment rotor core and the first inner rotor core, and the first magnetic adjustment ring is arranged on the first magnetic adjustment rotor core along the circumferential direction of the first magnetic adjustment rotor core; The number of pole pairs of the first magnetic tuning ring is equal to the sum of the number of pole pairs of the first permanent magnet array and the number of pole pairs of the third permanent magnet array.

4. The active steering system without mechanical transmission device according to claim 2, wherein: The first magnetic gear assembly comprises: a first planetary rotor, the first planetary rotor comprising: a first planet carrier and a plurality of first planetary wheels, the first planet carrier being rotatably disposed between the outer rotor core and the first inner rotor core, and the first planet carrier being used to output the third steering force, the second gap being disposed between the first planet carrier and the outer rotor core, the third gap being disposed between the first planet carrier and the first inner rotor core, the first planetary wheels comprising: a first planetary wheel core and a fourth permanent magnet array, the plurality of first planetary wheel cores being disposed on the first planet carrier along a circumferential direction of the first planet carrier, and the fourth permanent magnet array being disposed on the first planetary wheel core along a circumferential direction of the first planetary wheel core; The magnetic pole direction of the fourth permanent magnet array is located in the radial direction of the first planetary gear core, and the magnetic properties of adjacent magnetic poles in the fourth permanent magnet array are opposite; The sum of the number of pole pairs of the third permanent magnet array and twice the number of pole pairs of the fourth permanent magnet array is equal to the number of pole pairs of the first permanent magnet array; The ratio of the radius of the outer rotor core to the number of pole pairs of the first permanent magnet array, the ratio of the radius of the first inner rotor core to the number of pole pairs of the third permanent magnet array, and the ratio of the radius of the first planetary gear core to the number of pole pairs of the fourth permanent magnet array are equal. wait.

5. The active steering system without mechanical transmission device according to claim 2, wherein: The first magnetic gear assembly comprises: An outer gear ring, the outer gear ring comprising: an outer gear ring core and a fifth permanent magnet array, the first inner rotor core is rotatably arranged on the inner side of the outer gear ring core, and the fifth permanent magnet array is arranged on the inner side of the outer gear ring core along the circumferential direction of the outer gear ring core; The second planetary rotor comprises: a second planet carrier and a plurality of second planetary wheels, the second planet carrier is rotatably arranged between the outer gear ring core and the first inner rotor core, a fourth gap is arranged between the second planet carrier and the outer gear ring core, and the third gap is arranged between the second planet carrier and the first inner rotor core; the second planetary wheels comprise: A second planetary gear core and a sixth permanent magnet array, wherein a plurality of the second planetary gear cores are arranged on the second planetary carrier along the circumference of the second planetary carrier, and the sixth permanent magnet array is arranged on the second planetary gear core along the circumference of the second planetary gear core; A sun rotor, comprising: a sun rotor core and a seventh permanent magnet array, wherein the sun rotor core is rotatably arranged on the inner side of the outer rotor core, and the sun rotor core is used to output the third steering force, and the seventh permanent magnet array is arranged on the outer side of the sun rotor core along the circumference of the sun rotor core; A third planetary rotor, the third planetary rotor comprising: a third planet carrier and a plurality of third planetary wheels, the third planet carrier and the second planet carrier are coaxially connected, and the third planet carrier is rotatably arranged between the outer rotor core and the sun rotor core, the second gap is arranged between the third planet carrier and the outer rotor core, and a fifth gap is arranged between the third planet carrier and the sun rotor core; the third planetary wheel comprises: a third planetary wheel core and an eighth permanent magnet array, a plurality of the third planetary wheel cores are arranged on the third planet carrier along the circumference of the third planet carrier, and the eighth permanent magnet array is arranged on the third planetary wheel core along the circumference of the third planetary wheel core; Wherein, the magnetic pole directions of the fifth permanent magnet array, the sixth permanent magnet array, the seventh permanent magnet array and the eighth permanent magnet array are located in the radial direction of the first inner rotor core, and the magnetic properties of adjacent magnetic poles in the fifth permanent magnet array, the sixth permanent magnet array, the seventh permanent magnet array and the eighth permanent magnet array are opposite; The number of pole pairs of the fifth permanent magnet array is equal to the sum of twice the number of pole pairs of the sixth permanent magnet array and the number of pole pairs of the third permanent magnet array; The number of pole pairs of the first permanent magnet array is equal to the sum of twice the number of pole pairs of the eighth permanent magnet array and the number of pole pairs of the seventh permanent magnet array; The ratio of the radius of the outer gear ring core to the number of pole pairs of the fifth permanent magnet array, the ratio of the radius of the second planetary gear core to the number of pole pairs of the sixth permanent magnet array, and the ratio of the radius of the first inner rotor core to the number of pole pairs of the third permanent magnet array are equal; The ratio of the radius of the outer rotor core to the number of pole pairs of the first permanent magnet array, the ratio of the radius of the third planetary gear core to the number of pole pairs of the eighth permanent magnet array, and the ratio of the radius of the sun rotor core to the number of pole pairs of the seventh permanent magnet array are equal; The number of pole pairs of the first permanent magnet array is equal to the number of pole pairs of the fifth permanent magnet array, the number of pole pairs of the third permanent magnet array is equal to the number of pole pairs of the seventh permanent magnet array, the number of pole pairs of the sixth permanent magnet array is equal to the number of pole pairs of the eighth permanent magnet array, the radius of the outer rotor core is equal to the radius of the outer gear ring core, the radius of the second planetary gear core is equal to the radius of the third planetary gear core, and the radius of the first inner rotor core is equal to the radius of the sun rotor core.

6. The active steering system without mechanical transmission device according to claim 2, wherein: The active steering module also includes: a first housing, wherein the first stator core is disposed in the first housing, the outer rotor core is rotatably disposed in the first housing, the first inner rotor core is rotatably disposed in the first housing, and one end of the first inner rotor core extends out of one end of the first housing and is used to input the first steering force, and the first magnetic gear assembly is rotatably disposed in the first housing, and one end of the first magnetic gear assembly extends out of the other end of the first housing and is used to output the third steering force; An electromagnetic clutch is arranged between the outer rotor core and the first housing.

7. The active steering system without mechanical transmission device according to claim 1, wherein: The active steering system further comprises: A power steering module, the power steering module comprising: a second stator, a second inner rotor and a second magnetic gear assembly; Wherein, the second stator comprises: a second stator core, a second stator winding and a ninth permanent magnet array, and the second stator winding and the ninth permanent magnet array are respectively arranged on the inner side of the second stator core; The second inner rotor comprises: a second inner rotor core and a tenth permanent magnet array, the second inner rotor core is rotatably arranged on the inner side of the stator core, and the second inner rotor core is used to output a fourth steering force, the second inner rotor core is coaxially connected to the output end of the first magnetic gear assembly, and the tenth permanent magnet array is arranged on the second inner rotor core along the circumference of the second inner rotor core. The outer side of the sub-core; The second magnetic gear assembly comprises: a second magnetic adjustment rotor core and a second magnetic adjustment ring, the second magnetic adjustment rotor core is rotatably arranged between the second stator core and the second inner rotor core, a sixth gap is arranged between the second magnetic adjustment rotor core and the second stator core, a seventh gap is arranged between the second magnetic adjustment rotor core and the second inner rotor core, and the second magnetic adjustment ring is arranged on the second magnetic adjustment rotor core along the circumferential direction of the second magnetic adjustment rotor core; The second magnetic gear assembly is used to amplify the torque of the fourth steering force according to a second set ratio and add it to the torque of the third steering force to output a fifth steering force; The magnetic pole directions of the ninth permanent magnet array and the tenth permanent magnet array are located in the radial direction of the second inner rotor core, and the magnetic properties of adjacent magnetic poles in the ninth permanent magnet array and the tenth permanent magnet array are opposite; The number of pole pairs of the second magnetic tuning ring is equal to the sum of the number of pole pairs of the tenth permanent magnet array and the number of pole pairs of the ninth permanent magnet array.

8. The active steering system without mechanical transmission device according to claim 1, further comprising: A commutation module, the commutation module comprising: a commutation rotor, a magnetic adjustment component and a commutation mover; Wherein, the commutation rotor comprises: a commutation rotor core and an eleventh permanent magnet array, the commutation rotor core is coaxially connected to the output end of the first magnetic gear assembly, and the eleventh permanent magnet array is arranged on the outer side of the commutation rotor core along the circumference of the commutation rotor core; The commutation mover comprises: a commutation mover core and a twelfth permanent magnet array, wherein the commutation mover core is arranged to slide tangentially along the commutation rotor core, and the twelfth permanent magnet array is arranged on the commutation mover core along the sliding direction of the commutation mover core; The magnetic adjustment assembly comprises: a plurality of magnetic adjustment magnet blocks and a plurality of non-magnetic conductive media, wherein the plurality of magnetic adjustment magnet blocks and the plurality of non-magnetic conductive media are alternately arranged between the commutation rotor core and the commutation mover core along the sliding direction of the commutation mover core; The magnetic pole direction of the eleventh permanent magnet array is located in the radial direction of the commutation rotor core, the magnetic pole direction of the twelfth permanent magnet array is located in the radial direction of the commutation mover core, and the magnetic properties of adjacent magnetic poles in the eleventh permanent magnet array and the twelfth permanent magnet array are opposite; The number of pole pairs of the magnetic tuning component is equal to the sum of the number of pole pairs of the eleventh permanent magnetic array and the number of pole pairs of the twelfth permanent magnetic array.

9. The active steering system without mechanical transmission device according to claim 1, further comprising: A steering column, wherein the steering column is coaxially connected to the first inner rotor; A steering wheel, the steering wheel being arranged at an end of the steering column away from the first inner rotor; A sensor, wherein a detection end of the sensor is arranged close to the steering column, and the sensor is used to detect the rotation angle and / or torque of the steering column.

10. A vehicle comprising: An active steering system without a mechanical transmission as claimed in any one of claims 1 to 9.

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