Motor, electromagnetic damper, and vehicle

Abstract

A motor, an electromagnetic damper, and a vehicle. The motor comprises a first assembly and a second assembly. The first assembly is capable of reciprocating relative to the second assembly in a first direction; and the first assembly is further capable of rotating relative to the second assembly between a first circumferential position and a second circumferential position in a second direction, wherein the second direction is perpendicular to the first direction, and a central angle α corresponding to the first circumferential position and the second circumferential position is greater than or equal to 0° and less than or equal to 28°.

Description

Electric motors, electromagnetic dampers and vehicles

[0001] This application claims priority to Chinese patent application No. 202411999878.0, filed on December 31, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of vehicle technology, and more particularly to an electric motor, an electromagnetic damper, and a vehicle. Background Technology

[0003] A vehicle consists of a body, wheels, and electromagnetic dampers connecting the body and wheels. The electromagnetic dampers buffer the impact forces transmitted to the body from uneven road surfaces, ensuring a smooth ride. Some electromagnetic dampers also include a motor, which adjusts the stiffness and damping of the damper in real time according to the vehicle's motion and road conditions, ensuring the damper is in optimal vibration reduction mode. Summary of the Invention

[0004] This disclosure provides an electric motor, an electromagnetic damper, and a vehicle designed to solve the problem of motor motion jamming and instability when the stator and rotor are in relative motion.

[0005] In a first aspect, a motor is provided, the motor comprising a first component and a second component, the first component being reciprocable relative to the second component along a first direction; the first component being also rotatable relative to the second component along a second direction between a first circumferential position and a second circumferential position; the second direction being perpendicular to the first direction, and the central angle α corresponding to the first circumferential position and the second circumferential position being greater than or equal to 0° and less than or equal to 28°.

[0006] In some embodiments of the motor disclosed herein, the motor includes a first component and a second component. The first component is reciprocating relative to the second component along a first direction. The first component is also rotatable relative to the second component along a second direction between a first circumferential position and a second circumferential position. The second direction is perpendicular to the first direction, and the central angle α corresponding to the first circumferential position and the second circumferential position is greater than or equal to 0° and less than or equal to 28°.

[0007] In this way, the first and second components can rotate relative to each other, avoiding the increase in frictional resistance to reciprocating movement along the first direction due to the strict limitation on the circumferential displacement of the first and second components, thus reducing energy loss; and limiting the two circumferential limit positions of the first and second components to avoid detection errors caused by excessive rotation angle, thereby ensuring the detection and control accuracy of the motor.

[0008] In some embodiments, the central angle α satisfies one of the following: the central angle α is greater than or equal to 4° and less than or equal to 24°, or the central angle α is greater than or equal to 4° and less than or equal to 26.5°.

[0009] In some embodiments, the first component is sleeved on the outer periphery of the second component, an air gap is provided between the first component and the second component, and there is no circumferential limiting structure between the first component and the second component within the air gap.

[0010] In some embodiments, the motor further includes: a position detection device configured to detect the relative position of the first component and the second component in the first direction; the position detection device includes a first component and a second component, the first component being fixed to the first component and the second component being fixed to the second component, the first component rotating relative to the second component when the first component rotates relative to the second component.

[0011] In some embodiments, the first component includes a sensor read head, and the second component includes a magnetic grating strip; the surface of the magnetic grating strip facing the sensor read head is a first arc surface, and the first arc surface arches towards the sensor read head.

[0012] In some embodiments, the surface of the magnetic grating strip facing away from the sensor read head is a second arc surface, which arches upwards towards the sensor read head.

[0013] In some embodiments, the magnetic grating strip includes a first magnetic grating strip and a second magnetic grating strip, and the sensor read head includes a first sensor and a second sensor, with the sensing surface of the first sensor facing the first magnetic grating strip and the sensing surface of the second sensor facing the second magnetic grating strip.

[0014] In some embodiments, both the first magnetic grating strip and the second magnetic grating strip include a plurality of first magnets and a plurality of second magnets alternately arranged along the first direction; the magnetization direction of the first magnet and the magnetization direction of the second magnet are both parallel to the radial direction of the second component, and the magnetization direction of the first magnet is opposite to the magnetization direction of the second magnet.

[0015] In some embodiments, the first magnetic grating strip and the second magnetic grating strip are misaligned along the first direction.

[0016] In some embodiments, both the first magnet and the second magnet are formed by radiation magnetization.

[0017] In some embodiments, when the first component is in a first circumferential position, the first sensor is in a first position and the second sensor is in a second position; when the first component is in a second circumferential position, the first sensor is in a third position and the second sensor is in a fourth position; along the second direction, the median plane of the first magnetic grating strip is a first median plane, the median plane of the second grating strip is a second median plane, the first position and the third position are symmetrically arranged about the first median plane, and the second position and the fourth position are symmetrically arranged about the second median plane.

[0018] In some embodiments, the central angle θ between the first median plane and the second median plane is greater than or equal to 25° and less than or equal to 180°.

[0019] In some embodiments, the central angle θ is greater than or equal to 25° and less than or equal to 50°.

[0020] In some embodiments, the second component further includes a back support and a support frame fixed to the back support. The back support is located on the side of the first magnetic grating strip and the second magnetic grating strip opposite to the sensor reading head, and the support frame is located on the periphery of the first magnetic grating strip and the second magnetic grating strip and between the first magnetic grating strip and the second magnetic grating strip. The back support is a magnetically conductive component, and the support frame is a non-magnetically conductive component.

[0021] In some embodiments, the surface of the back support facing the sensor head is a third arc surface, which arches towards the sensor head.

[0022] In a second aspect, an electromagnetic damper is provided, the electromagnetic damper including the aforementioned motor, tower top assembly and elastic element, the tower top assembly being disposed in one of a first assembly and a second assembly of the motor, and the tower top assembly being adapted to connect to a vehicle body, the elastic element being disposed between the other of the first assembly and the second assembly and the tower top assembly, and the other of the first assembly and the second assembly being adapted to connect to a wheel.

[0023] Thirdly, a vehicle is provided, the vehicle including wheels, a body, a steering knuckle, a steering assembly, and the aforementioned electromagnetic damper, the steering knuckle being disposed on the wheels, the steering assembly being connected to the steering knuckle, and the electromagnetic damper being connected between the body and the steering knuckle.

[0024] In some embodiments, when the vehicle turns, the wheel deflection angle is γ, and the first component rotates circumferentially relative to the second component by an angle β, where γ = β. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 is a structural diagram of a vehicle according to some embodiments;

[0027] Figure 2 is a structural diagram of an electromagnetic damper according to some embodiments;

[0028] Figure 3 is another structural diagram of an electromagnetic damper according to some embodiments;

[0029] Figure 4 is a cross-sectional view of an electromagnetic damper according to some embodiments;

[0030] Figure 5 is another structural diagram of an electromagnetic damper according to some embodiments;

[0031] Figure 6 is a structural diagram of a motor according to some embodiments;

[0032] Figure 7 is a cross-sectional view of a motor according to some embodiments;

[0033] Figure 8 is a structural diagram of a position detection device according to some embodiments;

[0034] Figure 9 is another structural diagram of a position detection device according to some embodiments;

[0035] Figure 10 is a structural diagram of a second component according to some embodiments;

[0036] Figure 11 is a simplified axial cross-sectional view of the second component according to some embodiments;

[0037] Figure 12 is a diagram showing the effect of the mandrel deflection reading head magnetic flux reading according to some embodiments;

[0038] Figure 13 is a schematic diagram illustrating the ability of an optimized scheme to suppress wavelet size according to some embodiments;

[0039] Figure 14 is a schematic diagram illustrating the ability of an optimized scheme according to some embodiments to suppress magnetic flux density reduction.

[0040] Reference numerals: 100, vehicle; 10, body; 20, wheel; 30, electromagnetic damper; 40, steering assembly; 41, steering knuckle; 1, motor; 11, first assembly; 111, housing; 115, first bearing; 12, second assembly; 121, spindle; 124, second bearing; 13, position detection device; 131, first component; 1311, first sensor; 1312, second sensor; 132, second component; 1321, first magnetic strip; 1322, second magnetic strip; 1323, back support; 1324, support frame; 2, tower top assembly; 3, elastic element. Detailed Implementation

[0041] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this disclosure.

[0042] In the description of this disclosure, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or relative positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this disclosure and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this disclosure. Unless otherwise specified, the above-mentioned orientational descriptions can be flexibly set in practical applications, provided that the relative positional relationships shown in the accompanying drawings are satisfied.

[0043] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0044] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "communication" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a direct connection or an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art can understand the meaning of the above terms in this disclosure according to the circumstances.

[0045] In embodiments of this disclosure, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, article, or apparatus that includes that element.

[0046] In this disclosure, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" or "for example" in this disclosure should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts by way of example.

[0047] In related technologies, during vehicle steering, the motor experiences significant resistance between the stator and rotor, leading to issues such as motion stagnation and instability. Furthermore, the measurement accuracy of the stator and rotor is relatively low.

[0048] Based on this, some embodiments of this disclosure provide a vehicle 100. The vehicle 100 can be a pure electric vehicle, a hybrid electric vehicle, a plug-in hybrid electric vehicle, a range-extended electric vehicle, a gasoline-powered vehicle, etc. The vehicle 100 can also be a sedan, truck, bus, lorry, trailer, etc., and this disclosure does not limit the type of vehicle.

[0049] Please refer to Figures 1 to 5. Figure 1 is a structural schematic diagram of a vehicle 100 according to some embodiments of this disclosure, and Figure 2 is a schematic diagram of the connection relationship between the steering knuckle 41, the steering assembly 40 and the electromagnetic damper 30 in the vehicle 100 shown in Figure 1.

[0050] The vehicle 100 may include wheels 20, a body 10, a steering knuckle 41, and a steering assembly 40. The steering knuckle 41 is disposed on the wheel 20. At least a portion of the steering assembly 40 is disposed on the body 10, and the steering assembly 40 is connected to the steering knuckle 41. The position of the steering assembly 40 connected to the steering knuckle 41 is eccentrically arranged relative to the rotation axis of the wheel 20 so that the steering assembly 40 can drive the wheel 20 to steer by means of the steering knuckle 41.

[0051] In some embodiments, the steering assembly 40 may include a steering wheel and a steering shaft. The steering wheel is located in the passenger compartment of the vehicle body 10 and is connected to the steering knuckle 41 via the steering shaft. When driving the vehicle 100, the user can turn the steering wheel to rotate the wheels via the steering shaft and the steering knuckle 41, thereby steering the vehicle 100.

[0052] In some embodiments, the vehicle 100 may further include an electromagnetic damper 30. The electromagnetic damper 30 is connected between the vehicle body 10 and the wheel 20 to buffer the impact force transmitted to the vehicle body 10 from uneven road surfaces, so as to ensure the smoothness of the vehicle 100's ride and improve the driving comfort of the vehicle 100.

[0053] In some embodiments, the electromagnetic damper 30 may be connected between the vehicle body 10 and the steering knuckle 41 on the wheel 20 to prevent the electromagnetic damper 30 from rotating with the wheel 20. Based on this, as the steering assembly 40 drives the wheel to steer through the steering knuckle 41, the end of the electromagnetic damper 30 connected to the steering knuckle 41 will also rotate relative to the end of the electromagnetic damper 30 connected to the vehicle body 10, so as to ensure the smooth operation of the vehicle 100.

[0054] The structure of the electromagnetic damper 30 will be further described below.

[0055] As shown in Figures 3 and 4, Figure 3 is a structural schematic diagram of the electromagnetic damper 30 in the vehicle 100 shown in Figure 1, and Figure 4 is a cross-sectional structural schematic diagram of the electromagnetic damper 30 shown in Figure 3. The electromagnetic damper 30 may include a motor 1, a tower top assembly 2, and an elastic element 3.

[0056] Motor 1 can be a linear motor. Tower top assembly 2 is connected to motor 1 and is used to supply current to motor 1 to drive motor 1 to actively extend or shorten. Elastic element 3 is sleeved on the outside of motor 1. During the active extension or shortening process of motor 1, it can release or compress the two ends of elastic element 3 along the axial direction. Elastic element 3 can assist motor 1 in vibration reduction through its own elastic force, so that electromagnetic damper 30 is in a better vibration reduction state under different operating conditions of the vehicle.

[0057] Moreover, during vehicle operation, the motor 1 can be passively extended or shortened due to road bumps, allowing the elastic element 3 to compress or extend, thereby achieving shock absorption.

[0058] Referring to Figures 5 and 6, the motor 1 may include a first component 11 and a second component 12. The first component 11 may move relative to the second component 12 to extend or retract the motor 1. The direction in which the first component 11 moves relative to the second component 12 is defined as a first direction. The first direction may be consistent with the height direction of the vehicle 100 or may be tilted relative to the height direction of the vehicle. This disclosure does not limit this direction.

[0059] One of the first component 11 and the second component 12 is adapted to connect the wheel 20. For example, the first component 11 and the second component 12 are adapted to connect the wheel 20 via a steering knuckle 41, and the other component 11 and the second component 12 are adapted to connect the vehicle body 10. For example, the other component 11 and the second component 12 are adapted to connect the vehicle body 10 via a tower block assembly 2.

[0060] The following embodiments are further descriptions based on the first component 11 being adapted to connect the wheel 20 and the second component 12 being adapted to connect the vehicle body 10, and should not be considered as limiting the nature of this disclosure. For example, the first component 11 is adapted to connect the wheel 20 via a steering knuckle 41, and the second component 12 is adapted to connect the vehicle body 10 via a strut top component 2.

[0061] Referring to Figure 4, the tower top assembly 2 may include a mounting base and a first support. The mounting base is fixed to the second assembly 12 and is adapted to connect to the vehicle body 10. The first support is disposed on the mounting base. The tower top assembly 2 also includes a second support. For example, the second support is connected to the first assembly 11. The tower top assembly 2 also includes an electrical connection structure connected to the second assembly 12 to supply current to the second assembly 12, thereby driving the second assembly 12 to move relative to the first assembly 11 in the aforementioned first direction.

[0062] The elastic element 3 is connected between the tower top assembly 2 and the first assembly 11. For example, the elastic element 3 is connected between the first support and the second support.

[0063] For example, referring to Figure 4, the elastic element 3 can be a helical spring, an air spring, etc., and the helical spring can be a cylindrical helical spring, which is sleeved around the motor 1. In some other embodiments, the elastic element 3 can also be a tower spring, a disc spring, etc. This disclosure uses a cylindrical helical spring as an example to illustrate the use of the elastic element 3, which should not be considered as a special limitation of this disclosure.

[0064] In one application scenario, the second component 12 supports the vehicle body at a suitable height. When the first component 11 moves relative to the second component 12, the distance between the first and second supports changes accordingly. This causes the elastic element 3 to expand and contract with the relative movement of the first and second components 11 and 12, thereby maintaining vehicle body stability and achieving good vibration damping. The buffering performance of the elastic element 3 can be adjusted, which in turn adjusts the stiffness and damping of the electromagnetic damper 30, ensuring that the electromagnetic damper 30 is in an optimal vibration damping state.

[0065] In related technologies, motor 1 suffers severe wear during operation and is prone to noise, resulting in a short lifespan for the motor and a poor driving experience for vehicle 100.

[0066] Research revealed that during the relative movement of the first component 11 and the second component 12, resistance exists between them. Resistance refers to the force that opposes relative motion generated between the first component 11 and the second component 12 during this process. Furthermore, when the first component 11 and the second component 12 have a tendency to rotate relative to each other, strictly limiting their rotation actually increases the resistance. Additionally, excessively large rotation angles of the first component 11 and the second component 12 can lead to excessively large position detection errors.

[0067] This disclosure provides a motor 1 including a first component 11 and a second component 12. The first component 11 can reciprocate relative to the second component 12 along a first direction. The first component 11 can also rotate relative to the second component 12 along a second direction between a first circumferential position A and a second circumferential position B. The second direction is perpendicular to the first direction, and the central angle α between the first circumferential position A and the second circumferential position B is greater than or equal to 0° and less than or equal to 28°.

[0068] In some embodiments of the present disclosure, the motor 1 includes a first component 11 and a second component 12. The first component 11 can reciprocate relative to the second component 12 along a first direction. The first component 11 can also rotate relative to the second component 12 along a second direction between a first circumferential position A and a second circumferential position B. The second direction is perpendicular to the first direction, and the central angle α between the first circumferential position A and the second circumferential position B is greater than or equal to 0° and less than or equal to 28°.

[0069] In this way, the first component 11 and the second component 12 can rotate relative to each other, which avoids the increase of frictional resistance in reciprocating movement along the first direction due to the strict limitation of the circumferential displacement of the first component 11 and the second component 12, thus reducing energy loss; and limits the two circumferential limit positions of the first component 11 and the second component 12, avoiding detection errors caused by excessive rotation angle, and ensuring the detection and control accuracy of the motor 1.

[0070] In some embodiments, when the vehicle 100 turns, the wheel 20 deflects at an angle of γ, and the first component 11 rotates circumferentially relative to the second component 12 at an angle of β, where γ = β.

[0071] Thus, the first component 11 and the second component 12 can cooperate with the relative rotation of the wheel 20. That is to say, when the vehicle 100 makes a turning motion, the first component 11 and the second component 12 will also rotate at the same angle and work under a certain rotational condition.

[0072] For example, the first component 11 is movable relative to the second component 12. One of the first component 11 and the second component 12 is connected to the wheel 20, and the other of the first component 11 and the second component 12 is connected to the tower assembly 2. The tower assembly 2 is connected to the vehicle body. That is, one of the first component 11 and the second component 12 is a moving part assembly, and the other of the first component 11 and the second component 12 is a stator assembly.

[0073] For example, when vehicle 100 is driving, it often encounters uneven road surfaces, causing it to bump and sway. The electromagnetic damper 30 can cushion the impact, improving vehicle stability. At this time, the first component 11 of motor 1 is connected to the vehicle body, and the second component 12 is connected to the wheel 20. When the wheel 20 moves vertically relative to the vehicle body over this road section, motor 1 can drive the first component 11 and the second component 12 to move along a first direction, actively adjusting the distance between the vehicle body and the wheel 20, thereby cushioning the vehicle body, reducing vibration, and improving the comfort of the user driving vehicle 100.

[0074] In some embodiments, when the motor 1 drives the first component 11 and the second component 12 to reciprocate along a first direction, resistance will occur between the first component 11 and the second component 12. There are many factors that affect the resistance of the first component 11 and the second component 12. One important reason is that there is often an offset force along a second direction between the first component 11 and the second component 12. That is, there will be resistance along the circumference of the motor 1 between the first component 11 and the second component 12.

[0075] It is understandable that in order to ensure the stability between the first component 11 and the second component 12, the circumferential rotation of the first component 11 and the second component 12 along the second direction is often restricted. However, this will increase the damping system of the first component 11 and the second component 12 along the first direction, thereby increasing the resistance.

[0076] In some embodiments of this disclosure, the first component 11 and the second component 12 of the motor 1 rotate along a second direction between a first circumferential position A and a second circumferential position B, wherein the central angle α between the first circumferential position A and the second circumferential position B is greater than or equal to 0° and less than or equal to 28°.

[0077] In other words, when the first component 11 and the second component 12 move axially along the first direction, the first component 11 and the second component 12 can also move circumferentially between the first circumferential position A and the second circumferential position B. That is to say, in some embodiments of this disclosure, the first component 11 and the second component 12 avoid being in a state of complete immobility in the circumferential direction, so as to reduce the coefficient of frictional resistance and thus reduce resistance.

[0078] In some embodiments, the central angle α between the first circumferential position A and the second circumferential position B is greater than or equal to 0° and less than or equal to 28°. That is, the first component 11 and the second component 12 can rotate within the range of 0-28° of the central angle α. The first component 11 and the second component 12 can reduce drag and avoid affecting the detection of the relative position of the first component 11 and the second component 12.

[0079] Additionally, it should be noted that in some embodiments of this disclosure, the orientation of the first circumferential position A and the second circumferential position B is not limited; the first circumferential position A and the second circumferential position B are merely relative positional concepts of the first component 11 and the second component 12. The statement that "the first component 11 can also rotate relative to the second component 12 along a second direction between the first circumferential position A and the second circumferential position B, with the corresponding central angle α between the first circumferential position A and the second circumferential position B being greater than or equal to 0° and less than or equal to 28°" refers to the fact that the first component 11 and the second component 12 remain concentrically positioned during movement. In this case, the relative rotation range of the second component 12 relative to the first component 11 along the circumferential direction is between 0° and 28°.

[0080] Please refer to Figures 7 and 8. The second component 12 has two oil passages, limiting the arrangement space of the magnetic strips to 70°. In the current arrangement space, to prevent interference angles, the maximum width angle of the magnetic strips is 32.5°, and the maximum range of rotational motion can be calculated to be 28°. If the motor 1 has no oil passages, or uses other oil passage designs, the two rows of magnetic strips can be expanded to 175°, and the maximum relative rotation range of the first component 11 and the second component 12 can reach 169°.

[0081] Thus, by setting the central angle α within this range, it can satisfy the free rotation angle of the first component 11 and the second component 12 when they move along the first direction, thereby reducing the impact on resistance, and also avoid the relative position detection of the first component 11 and the second component 12 being affected by the excessive rotation angle of the first component 11 and the second component 12.

[0082] In some embodiments, the central angle α corresponding to the first circumferential limit position and the second circumferential limit position is greater than or equal to 0° and less than or equal to 28°, that is, the range between the first circumferential limit position and the second circumferential limit position can reach 28°. It is understood that the rotation range between the first component 11 and the second component 12 is relatively large, which can reduce the influence of the circumferential motion on the first direction motion during the actual use of the motor 1.

[0083] In some embodiments, the range of the central angle α can be further reduced to avoid the influence of the circumferential movement of the first component 11 and the second component 12 on the position detection. In some embodiments, the central angle α is greater than or equal to 4° and less than or equal to 24°, or the central angle α is greater than or equal to 4° and less than or equal to 26.5°.

[0084] That is, in some embodiments, the relative rotation range of the second component 12 relative to the first component 11 in the circumferential direction is between 4 and 24°; in some embodiments, the relative rotation range of the second component 12 relative to the first component 11 in the circumferential direction is between 4 and 26.5°.

[0085] In some embodiments of this disclosure, the size and model of the motor 1 are not limited, but the diameter of the spindle 121 of the second component 12 of the motor 1 is limited to about 72 mm. The central angle α of this disclosure is not limited to the above design. When the diameter of the spindle 121 changes, the range of the central angle α will change to a certain extent, which can meet the requirements of the oil passage setting and prevent interference between magnetic strips.

[0086] In some embodiments, the first component 11 is sleeved on the outer periphery of the second component 12, an air gap is provided between the first component 11 and the second component 12, and there is no circumferential limiting structure between the first component 11 and the second component 12 in the air gap.

[0087] Thus, the first component 11 and the second component 12 are connected only by bearings, which further reduces resistance and avoids excessive resistance that could lead to energy loss.

[0088] In some embodiments, the motor 1 further includes a position detection device 13, which is used to detect the relative position of the first component 11 and the second component 12 in a first direction. The position detection device 13 includes a first component 131 and a second component 132. The first component 131 is fixed to the first component 11, and the second component 132 is fixed to the second component 12. When the first component 11 rotates relative to the second component 12, the first component 131 rotates relative to the second component 132.

[0089] Thus, the position detection device 13 can detect the relative position of the first component 11 and the second component 12 through the first component 131 and the second component 132, and then determine the state of the motor 1 based on the signal from the position detection device 13.

[0090] For example, when the first component 11 moves upward relative to the second component 12 along the first direction, it can drive the first component 131 to move upward relative to the second component 132 along the first direction. At this time, the position detection device 13 can transmit the detected position and speed signals back to the control system of the vehicle 100. The control system can control the vehicle body and wheels 20 of the vehicle 100 based on the detected signals.

[0091] In some embodiments, the first component 131 may be fixed to the second component 12, and the second component 132 may be fixed to the first component 11; this is not limited here.

[0092] Please refer to Figures 9 and 10. In some embodiments, the first component 131 includes a sensor read head, and the second component 132 includes a magnetic grating strip; the surface of the magnetic grating strip facing the sensor read head is a first arc surface, and the first arc surface arches towards the sensor read head.

[0093] Thus, when the first component 11 and the second component 12 move relative to each other along the first direction and rotate relative to each other, as long as the first component 11 and the second component 12 are within the rotation range, the sensor reading head can read and detect the first arc surface of the grid strip, and thus detect the relative position of the first component 11 and the second component 12.

[0094] In some embodiments of this disclosure, the type of sensor is not limited to meet different needs. For example, the sensor may be a Hall element, or a tunnel magnetoresistance (TMR) element, magnetometer, magnetoresistive, magnetic diode, magnetic transistor, etc. In some embodiments of this disclosure, a Hall element is used as an example for illustration.

[0095] In some embodiments, the surface of the magnetic grating strip facing away from the sensor read head is a second arc surface, which arches upwards towards the sensor read head.

[0096] For example, both opposite surfaces of the magnetic grating strip are curved surfaces, namely, the first curved surface and the second curved surface. The first curved surface and the second curved surface can cooperate with the second component 12 of the motor 1 and maintain a similar curvature to ensure that the magnetic grating strip can be set on the second component 12 without occupying other space.

[0097] In some embodiments, the magnetic grating strip includes a first magnetic grating strip 1321 and a second magnetic grating strip 1322, and the sensor read head includes a first sensor 1311 and a second sensor 1312, with the sensing surface of the first sensor 1311 facing the first magnetic grating strip 1321 and the sensing surface of the second sensor 1312 facing the second magnetic grating strip 1322.

[0098] Thus, the first sensor 1311 and the second sensor 1312 can read the first magnetic grating strip 1321 and the second magnetic grating strip 1322 respectively, and the first sensor 1311 and the second sensor 1312 transmit the data back to the controller, so that the controller of the vehicle 100 can verify each other based on the two transmitted signals, thereby improving the stability of signal transmission.

[0099] In some embodiments, the first magnetic grating strip 1321 and the second magnetic grating strip 1322 each include a plurality of first magnets and a plurality of second magnets alternately arranged along a first direction; the magnetization direction of the first magnet and the magnetization direction of the second magnet are both parallel to the radial direction of the second component 12, and the magnetization direction of the first magnet is opposite to the magnetization direction of the second magnet.

[0100] Thus, multiple first magnets and multiple second magnets are alternately arranged, and the sensor reading head can follow the movement of the first component 11 relative to the second component 12 to detect the magnetic grating strip through the magnetic changes of adjacent magnets.

[0101] For example, the magnetization direction of the first magnet and the magnetization direction of the second magnet are both parallel to the radial direction of the second component 12. At the same time, the sensor reading head can be directly facing the magnetic grating strip, ensuring that the sensor reading head can pass through the position with the maximum magnetic flux, thereby improving the detection accuracy.

[0102] It should be noted that the parallel and opposite magnetization directions of the first and second magnets mean that the first and second magnets have N and S poles respectively on the side facing the sensor read head. The N and S poles alternate in a magnetic grid strip, which can effectively assist the sensor read head in detection.

[0103] Of course, it is also possible that the first magnet and the second magnet have their S pole and N pole respectively on the side facing the sensor reading head.

[0104] In some embodiments, the first magnetic grating strip 1321 and the second magnetic grating strip 1322 are staggered along a first direction. In some embodiments, the number of arrangement cycles of the first magnetic grating strip 1321 and the second magnetic grating strip 1322 differs by 1.

[0105] Thus, the first sensor 1311 and the second sensor 1312 can detect the first magnetic grating strip 1321 and the second magnetic grating strip 1322 respectively. The misalignment of the first magnetic grating strip 1321 and the second magnetic grating strip 1322 allows the first sensor 1311 and the second sensor 1312 to detect different magnetic signals when they are at the same position along the first direction, thereby realizing two completely independent sets of signals. The controller can decode and calibrate the two sets of signals separately, and can accurately calculate the absolute displacement of the first component 131 relative to the second component 132.

[0106] In some embodiments, both the first magnet and the second magnet are formed by radiation magnetization.

[0107] This ensures that the first and second magnets have good magnetic properties, making the sensor's read head detection more accurate and stable.

[0108] In some embodiments, referring to Figures 9 to 11, when the first component 11 is in the first circumferential position A, the first sensor 1311 is in the first position and the second sensor 1312 is in the second position; when the first component 11 is in the second circumferential position B, the first sensor 1311 is in the third position and the second sensor 1312 is in the fourth position; along the second direction, the mid-plane of the first magnetic grating strip 1321 is the first mid-plane I, and the mid-plane of the second grating strip is the second mid-plane II. The first and third positions are symmetrically arranged about the first mid-plane I, and the second and fourth positions are symmetrically arranged about the second mid-plane II.

[0109] Thus, the first component 11 can rotate relative to the second component 12 between a first circumferential position A and a second circumferential position B, allowing the first sensor 1311 to move between a first position and a third position, while the second sensor 1312 can move between a second position and a fourth position. In this way, regardless of the relative rotational position between the first component 11 and the second component 12, the sensor read head can always read the magnetic grating strip and thus acquire the corresponding position signal.

[0110] Referring to Figure 11, in some embodiments, the central angle θ between the first median plane I and the second median plane II is greater than or equal to 25° and less than or equal to 180°. For example, the central angle θ between the first median plane I and the second median plane II can be 25°, 30°, 40°, 50°, 60°, 70°, 80°, 90°, 100°, 110°, 120°, 130°, 140°, 150°, 160°, 170°, or 180°.

[0111] Thus, the distance between the first median surface I and the second median surface II can vary with the design of the motor 1, ensuring that the first magnetic grating strip 1321 and the second magnetic grating strip 1322 do not interfere with each other, thus guaranteeing the accurate detection of the two sensor heads. Simultaneously, when the distance between the first median surface I and the second median surface II is large, the first magnetic grating strip 1321 and the second magnetic grating strip 1322 can be positioned at a greater distance, avoiding mutual interference between the magnetic fields of the two magnetic grating strips, and ensuring that the first sensor 1311 and the second sensor 1312 independently read parameters.

[0112] It is understood that the oil passage in the supplementary diagram restricts the magnetic strip arrangement space to 70°, and the standard width of the magnetic strip is 20°. Therefore, the central angle between the two magnetic strips is restricted to 70 - (20 / 2)*2 = 50°. In some embodiments, the central angle θ is greater than or equal to 25° and less than or equal to 50°. For example, the central angle θ between the first median plane I and the second median plane II can be 25°, 30°, 35°, 40°, 45°, or 50°.

[0113] This further limits the size of the central angle θ between the first intermediate plane I and the second intermediate plane II, preventing the positions of the first magnetic strip 1321 and the second magnetic strip 1322 from being too far apart and affecting the setting of other components of the motor 1.

[0114] In some embodiments, the second component 132 further includes a back support 1323 and a support frame 1324 fixed to the back support 1323. The back support 1323 is located on the side of the first magnetic grating strip 1321 and the second magnetic grating strip 1322 that is away from the sensor reading head. The support frame 1324 is located on the periphery of the first magnetic grating strip 1321 and the second magnetic grating strip 1322 and between the first magnetic grating strip 1321 and the second magnetic grating strip 1322. The back support 1323 is a magnetically conductive component, and the support frame 1324 is a non-magnetically conductive component.

[0115] Thus, the support frame 1324 can serve as a component to support the first magnetic grating strip 1321 and the second magnetic grating strip 1322, and the support frame 1324 can serve as a component to wrap the first magnetic grating strip 1321 and the second magnetic grating strip 1322, so as to prevent the first magnetic grating strip 1321 and the second magnetic grating strip 1322 from being affected by the vibration of the second component 12.

[0116] Furthermore, the support frame 1324 is a non-magnetic component, preventing magnetic leakage from the first magnetic grating strip 1321 and the second magnetic grating strip 1322, thus weakening the circumferential magnetic field. Simultaneously, it separates the first magnetic grating strip 1321 and the second magnetic grating strip 1322, ensuring that the first sensor 1311 and the second sensor 1312 can detect and read from the first magnetic grating strip 1321 and the second magnetic grating strip 1322 respectively. This effectively prevents the first sensor 1311 from being affected by the magnetism of the second magnetic grating strip 1322, and also effectively prevents the second sensor 1312 from being affected by the magnetism of the first magnetic grating strip 1321.

[0117] In some embodiments of this disclosure, the back support 1323 is a magnetically conductive component, and the support frame 1324 is a non-magnetically conductive component. A magnetically conductive component refers to an element made of a material with high magnetic permeability (a type of material with a magnetic permeability greater than or equal to a certain threshold), while a non-magnetically conductive component refers to an element made of a material with low magnetic permeability (a type of material with a magnetic permeability less than or equal to a certain threshold).

[0118] In some embodiments, the surface of the back support 1323 facing the sensor reading head is a third arc surface, which arches towards the sensor reading head.

[0119] Thus, the third arc surface can cooperate with the second arc surface to fix the first magnetic grating strip 1321 and the second magnetic grating strip 1322 in the corresponding positions.

[0120] This disclosure provides an electromagnetic damper 30, which includes a motor 1, a tower top assembly 2, and an elastic member 3 as described in the above embodiments. The tower top assembly 2 is disposed on one of the first assembly 11 and the second assembly 12 of the motor 1, and the tower top assembly 2 is adapted to connect to the vehicle body 10. The elastic member 3 is disposed between the tower top assembly 2 and the other of the first assembly 11 and the second assembly 12, and the other of the first assembly 11 and the second assembly 12 is adapted to connect to the wheel 20.

[0121] This disclosure provides a vehicle 100, which includes a wheel 20, a body 10, a steering knuckle 41, a steering assembly 40, and an electromagnetic damper 30 as described above. The steering knuckle 41 is disposed on the wheel 20, the steering assembly 40 is connected to the steering knuckle 41, and the electromagnetic damper 30 is connected between the body 10 and the steering knuckle 41.

[0122] In some embodiments of the motor 1, electromagnetic damper 30, and vehicle 100 disclosed herein, the motor 1 includes a first component 11 and a second component 12. The first component 11 can reciprocate relative to the second component 12 along a first direction. The first component 11 can also rotate relative to the second component 12 along a second direction between a first circumferential position A and a second circumferential position B. The second direction is perpendicular to the first direction, and the central angle α between the first circumferential position A and the second circumferential position B is greater than or equal to 0° and less than or equal to 28°. Thus, the first component 11 and the second component 12 can rotate relative to each other, avoiding the increased frictional resistance from reciprocating movement along the first direction due to strict limitations on the circumferential displacement of the first component 11 and the second component 12, thereby reducing energy loss. Furthermore, limiting the two circumferential limit positions of the first component 11 and the second component 12 avoids detection errors caused by excessive rotation angles, ensuring the detection and control accuracy of the motor 1.

[0123] Understandably, when the vehicle 100 drives the wheels 20 to rotate relative to the vehicle body to achieve a turn, the first component 11 and the second component 12 in the motor 1 will also often be in a state of relative rotation. At this time, existing position sensors often exhibit problems such as unstable detection, low position reading accuracy, large errors in absolute position calculation, and reduced accuracy and reliability of displacement reading. Therefore, under conditions where the first component 11 and the second component 12 of the motor 1 experience large deflections, it is crucial to ensure that the change in the vector direction of the signal reading is small to avoid reduced reliability of the sensor under deflection conditions.

[0124] In some embodiments of this disclosure, the motor 1 is equipped with a position detection device 13 that can adapt to deflection conditions, and can be used in systems with deflection, such as suspensions. In some embodiments of this disclosure, the type of motor 1 is not limited to meet different needs. For example, the motor 1 can be a cylindrical linear motor 1, and the following description uses a cylindrical linear motor 1 as an example.

[0125] For example, in motor 1, the first component 11 and the second component 12 are not in contact, and the position detection device 13 in some embodiments of this disclosure is a non-contact magnetic induction sensor. Normal operation is ensured when the first component 11 and the second component 12 undergo a certain relative deflection angle.

[0126] Some embodiments of this disclosure improve the circumferential magnetic flux density uniformity of the magnetic grating strips by reducing leakage flux and radiative magnetization, thus avoiding excessive changes in magnetic flux density readings due to axial deflection. Furthermore, increasing the spacing between adjacent magnetic grating strips prevents interference between the magnetic fields of two rows of grating strips. Therefore, signal stability is maintained even under harsh deflection conditions, improving the reliability of displacement sensing. The sensor readhead and magnetic grating strip design occupy a small space and have a simple structure, making them suitable for various linear motion devices with compact space requirements, such as the motor 1 in some embodiments of this disclosure.

[0127] For example, in some embodiments of this disclosure, the motor 1 may include a housing 111 and a spindle 121. A magnet assembly is attached to the inner wall of the housing 111. The distribution of the magnet assembly is not limited in some embodiments of this disclosure. A coil assembly is sleeved on the spindle 121, forming an air gap magnetic field between the spindle and the magnet assembly. Changes in the air gap magnetic field cause the housing 111 and the magnet assembly to move relative to the spindle 121 and the coil assembly. Between the relatively moving components are a first bearing 115 and a second bearing 124 sleeved on the guide rod assembly.

[0128] Of course, in some embodiments, the positions of the magnet assembly and the coil assembly can be interchanged, that is, the applicable linear motor 1 can be an outer magnet and inner coil arrangement or an inner magnet and outer coil arrangement.

[0129] The position detection device 13 in some embodiments of this disclosure can be a type of magnetic induction sensor. The position detection device 13 includes a magnetic grating strip, a back support member 1323, and a sensor reading head. The magnetic grating strip is embedded in the back support member 1323, and the back support member 1323 and the magnetic grating strip are fixed on the spindle 121 by a fixing block. The sensor reading head is fixed on the housing 111 by a fixing bracket.

[0130] The sensor head can read the magnetic flux density (magnetic flux density) of the magnetic strip. When the linear motor 1 outputs motion, the spindle 121 moves relative to the housing 111, causing the sensor head to read the magnetic flux density that changes with the axial movement. The changing magnetic flux density is converted into an electrical signal and transmitted to the linear motor 1 controller, which analyzes the displacement information of the motor 1 to achieve control. The sensor head can use a Hall element or other magnetic sensing element as a sensor.

[0131] In one embodiment, a cylindrical linear motor 1 can be used on an electromagnetic damper 30. The bottom of the housing 111 of the linear motor 1 is hinged to the lower control arm of the suspension system, and one side of the lower control arm is hinged to the wheel 20. The spindle 121 of the linear motor 1 is connected to the vehicle frame through a tower top structure, so that the linear motor 1 acts as a damper to absorb the vibration and impact of the road surface on the wheel 20.

[0132] When the vehicle 100 turns, the steering of the wheel 20 will cause the lower control arm to swing, which in turn causes the housing 111 and the spindle 121 to rotate relative to each other. To prevent the relative deflection of the housing 111 and the spindle 121, a limiting structure can be added to keep them circumferentially stationary, but this is more complex in structure, and the limiting structure is subjected to circumferential pressure, which will increase the friction of the linear motor 1.

[0133] The back support 1323 has two slots, each fixed with a magnetic grating strip. The magnetic grating strips are tile-shaped magnets, and each set of magnetic grating strips consists of magnets magnetized outwards and inwards alternately. The sensor head reads the magnetic flux density of the radial outer mid-plane corresponding to a set of magnetic grating strips, which corresponds to the standard circumferential position of the spindle 121. The change in magnetic flux density of the mid-plane is shown by the dotted line in Figure 12. Since the operating conditions of the linear motor 1 allow the spindle 121 to deflect to a certain extent, the magnetic grating strips and the back support 1323 deflect clockwise or counterclockwise relative to the sensor head. Because the sensor head position remains unchanged, the deflection of the magnetic grating strips causes a change in the magnetic flux density reading position.

[0134] In some embodiments, when the magnetic grating strip is deflected clockwise relative to the sensor reading head, that is, when the first component 11 is in the first circumferential position A, the first sensor 1311 is in the first position and the second sensor 1312 is in the second position.

[0135] In some embodiments, when the magnetic grating strip is deflected counterclockwise relative to the sensor read head, that is, when the first component 11 is in the second circumferential position B, the first sensor 1311 is in the third position and the second sensor 1312 is in the fourth position.

[0136] In some embodiments of this disclosure, referring to Figures 12-14, when the first component 11 is in the first circumferential position A, the change in magnetic flux density of the first sensor 1311 is shown by the dashed line in Figure 12, showing a decrease in magnetic flux density. When the first component 11 is in the second circumferential position B, corresponding to the middle of the two sets of magnetic strips, the change in magnetic flux density of the first sensor 1311 is shown by the solid line in Figure 12, exhibiting a wave-like phenomenon and a decrease in magnetic flux density relative to the magnetic flux density of the mid-plane.

[0137] When no deflection occurs, the position calculation is incorrect due to the reduced signal-to-noise ratio and the phenomenon of large and small waves caused by the absence of magnetic flux density reduction. The displacement signal output by the sensor read head is accurate. In order to ensure that the motor 1 can still work when there is a small deflection between the housing 111 and the spindle 121, that is, to improve the sensor's anti-deflection ability and suppress the phenomena of magnetic flux density reduction and large and small waves, this disclosure proposes the following structural optimization scheme.

[0138] Furthermore, since the magnetic flux density periods of the two sets of magnetic grating strips are different, it can be confirmed that the magnitude fluctuation of the magnetic flux density originates from the interference of the magnetic fields of the two sets of magnetic grating strips. In the optimization scheme, the circumferential spacing of the two sets of magnetic grating strips is increased, and the circumferential spacing of the sensors inside the sensor read head is also increased. Regarding the phenomenon of magnetic flux density reduction, it is confirmed that the back support 1323, as a magnetic conductive material, causes increased magnetic leakage at the edge of the magnetic grating strip, resulting in a faster reduction in magnetic flux density. Secondly, when the read head reads the radial component of the magnetic flux density of the magnetic grating strips, the radial component of the parallel magnetized magnetic grating strips is weakened more at the edge.

[0139] In the optimized design, to address the weakening of magnetic flux density, the back support 1323 is processed in two parts: the support frame 1324 is made of non-magnetic material, and the back support 1323 is made of magnetic material. The two parts are bonded together to form the original structure of the back support 1323. Furthermore, the magnetization direction can be changed to radial magnetization to increase the radial component of the magnetic flux density generated by the magnetic strip.

[0140] In addition, the difference in the number of cycles (NS magnet pairs) between the two sets of magnetic grating strips should not exceed 1.

[0141] As shown in Figure 13, with the increase of the circumferential spacing between the two sets of magnetic grating strips, the large and small wave phenomena of magnetic flux density weaken, and the amplitude of magnetic flux density of each wave tends to be consistent, proving the effect of this scheme on suppressing the large and small wave variations. As shown in Figure 14, by replacing the non-magnetic material and using radiation magnetization, the magnetic field generated by the magnetic grating strips in the outer circumferential direction is more uniform and the waveform is flatter.

[0142] It can be confirmed that when using the optimized scheme, even if the spindle 121 is deflected at a large angle, the change in magnetic flux density read by the sensor head can be kept small, and the influence of magnetic field interference is suppressed. This ensures that the signal of the position detection device 13 still has strong stability and reliability under harsh working conditions.

[0143] In summary, some embodiments of this disclosure improve the design of the magnetic grating strip and back iron of the magnetic induction sensor and the magnetization method, so that when the spindle 121 of the linear motor 1 rotates at a certain angle, the magnetic flux density read by the read head will not change significantly, thereby maintaining the signal stability of the sensor and improving the reliability of the sensor.

[0144] In addition, some embodiments of this disclosure suppress interference between the magnetic fields of the two magnetic grating strips by expanding the circumferential spacing between the two magnetic grating strips, ensuring that the amplitude fluctuation of the magnetic flux density is not large when the read head is biased towards the middle region of the two magnetic grating strips, so as not to cause signal failure.

[0145] In some embodiments of this disclosure, the position detection device 13 can be applied to a compact cylindrical linear motor 1. By optimizing the magnetic strip back iron, it adapts to certain rotational conditions and is suitable for systems such as suspensions that may experience small-angle rotation. Through the aforementioned optimization, the sensor's resistance to deflection is improved, the structure is more compact and simpler, and signal stability and sensor reliability are greatly enhanced.

[0146] In the description of this specification, features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0147] The above are merely specific embodiments of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. An electric motor (1), comprising: The first component (11) and the second component (12) are provided, wherein the first component (11) is reciprocating relative to the second component (12) in a first direction; the first component (11) is also rotatable relative to the second component (12) in a second direction between a first circumferential position and a second circumferential position. Wherein, the second direction is perpendicular to the first direction, and the central angle α between the first circumferential position and the second circumferential position is greater than or equal to 0° and less than or equal to 28°.

2. The motor (1) according to claim 1, wherein, The central angle α satisfies one of the following: The central angle α is greater than or equal to 4° and less than or equal to 24°; and The central angle α is greater than or equal to 4° and less than or equal to 26.5°.

3. The motor (1) according to claim 1 or 2, wherein, The first component (11) is sleeved on the outer periphery of the second component (12), and an air gap is provided between the first component (11) and the second component (12), and there is no circumferential limiting structure between the first component (11) and the second component (12) in the air gap.

4. The motor (1) according to any one of claims 1-3, further comprising: A position detection device (13) is configured to detect the relative positions of the first component (11) and the second component (12) in the first direction; The position detection device (13) includes a first component (131) and a second component (132). The first component (131) is fixed to the first component (11), and the second component (132) is fixed to the second component (12). When the first component (11) rotates relative to the second component (12), the first component (131) rotates relative to the second component (132).

5. The motor (1) according to claim 4, wherein, The first component (131) includes a sensor read head, and the second component (132) includes a magnetic grating strip; The surface of the magnetic grating strip facing the sensor reading head is a first arc surface, which arches upwards towards the sensor reading head.

6. The motor (1) according to claim 5, wherein, The surface of the magnetic grating strip facing away from the sensor reading head is a second arc surface, which arches upwards towards the sensor reading head.

7. The motor (1) according to claim 5 or 6, wherein, The magnetic grating strip includes a first magnetic grating strip (1321) and a second magnetic grating strip (1322), and the sensor reading head includes a first sensor (1311) and a second sensor (1312). The sensing surface of the first sensor (1311) faces the first magnetic grating strip (1321), and the sensing surface of the second sensor (1312) faces the second magnetic grating strip (1322).

8. The motor (1) according to claim 7, wherein, Both the first magnetic grating strip (1321) and the second magnetic grating strip (1322) include a plurality of first magnets and a plurality of second magnets alternately arranged along the first direction; The magnetization direction of the first magnet and the magnetization direction of the second magnet are both parallel to the radial direction of the second component (12), and the magnetization direction of the first magnet is opposite to the magnetization direction of the second magnet.

9. The motor (1) according to claim 8, wherein, Along the first direction, the first magnetic grating strip (1321) and the second magnetic grating strip (1322) are misaligned.

10. The motor (1) according to claim 8 or 9, wherein, Both the first magnet and the second magnet are formed by radiation magnetization.

11. The motor (1) according to any one of claims 7-10, wherein, When the first component (11) is in the first circumferential position, the first receptor (1311) is in the first position and the second receptor (1312) is in the second position; when the first component (11) is in the second circumferential position, the first receptor (1311) is in the third position and the second receptor (1312) is in the fourth position. Along the second direction, the mid-plane of the first magnetic grating strip (1321) is the first mid-plane, the mid-plane of the second grating strip is the second mid-plane, the first position and the third position are symmetrically arranged about the first mid-plane, and the second position and the fourth position are symmetrically arranged about the second mid-plane.

12. The motor (1) according to claim 11, wherein, The central angle θ between the first median plane and the second median plane is greater than or equal to 25° and less than or equal to 180°.

13. The motor (1) according to claim 12, wherein, The central angle θ is greater than or equal to 25° and less than or equal to 50°.

14. The motor (1) according to any one of claims 7-13, wherein, The second component (132) further includes a back support (1323) and a support frame (1324) fixed to the back support (1323). The back support (1323) is located on the side of the first magnetic grating strip (1321) and the second magnetic grating strip (1322) that is away from the sensor reading head. The support frame (1324) is located on the periphery of the first magnetic grating strip (1321) and the second magnetic grating strip (1322), and between the first magnetic grating strip (1321) and the second magnetic grating strip (1322). The back support (1323) is a magnetic component, and the support frame (1324) is a non-magnetic component.

15. The motor (1) according to claim 14, wherein, The surface of the back support (1323) facing the sensor head is a third arc surface, which arches towards the sensor head.

16. An electromagnetic damper (30), comprising: The motor (1) according to any one of claims 1-15; A tower top assembly (2), wherein the tower top assembly (2) is disposed in one of the first assembly (11) and the second assembly (12) of the motor (1), and the tower top assembly (2) is adapted to connect to the vehicle body (10); and An elastic element (3) is disposed between the other of the first component (11) and the second component (12) and the tower top component (2), and the other of the first component (11) and the second component (12) is adapted to connect a wheel (20).

17. A vehicle (100), comprising: Wheel (20); Body (10); Steering knuckle (41), said steering knuckle (41) is disposed on said wheel (20); Steering assembly (40), said steering assembly (40) being connected to said steering knuckle (41); and According to claim 16, the electromagnetic damper (30) is connected between the vehicle body (10) and the steering knuckle (41).

18. The vehicle (100) according to claim 17, wherein, When the vehicle (100) turns, the wheel (20) deflects at an angle of γ, and the first component (11) rotates circumferentially relative to the second component (12) at an angle of β, where α = β.

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