Electro-mechanically phased electromagnetic machine for reducing torque and force ripple and methods thereof

Abstract

An electro-mechanically phased electromagnetic machine includes a stator defining multiple magnetic interaction regions including at least first and second air gaps, at least two movable magnetic members mechanically coupled to a common output member, and an excitation winding arranged to influence more than one magnetic interaction region. The conductors are positioned to establish a construction-defined spatial phase relationship between magnetic field distributions formed in the respective regions. A commutation phase defined by selective energization is maintained relative to the spatial phase relationship, and an optional mechanical phase offset may be provided. The spatial phase, commutation phase, and mechanical phase are jointly coordinated such that oscillatory torque or force components generated in the respective magnetic interaction regions are substantially phase-opposed while average components are substantially additive, thereby producing a substantially steady resultant output without active ripple compensation. The invention is applicable to motors, generators, linear drives, traction systems, and precision motion systems.

Description

ELECTRO-MECHANICALLY PHASED ELECTROMAGNETIC MACHINE FOR REDUCING TORQUE AND FORCE RIPPLE AND METHODS THEREOFTECHNICAL FIELD

[0001] The present invention relates to electric machines and electromagnetic energy conversion devices. More particularly, the invention relates to electric motors, generators, and linear electromagnetic actuators having multiple air gaps and multiphase windings configured to produce steady torque or force with reduced ripple through coordinated commutation, spatial, and mechanical phase relationships.BACKGROUND OF THE INVENTION

[0002] Electromagnetic machines such as electric motors, generators, linear drives, and traction systems commonly generate torque or force through interaction between magnetic field distributions in an air gap and movable magnetic members. In many practical configurations, multiple magnetic interaction regions may be present, including machines having dual air gaps, multiple rotors, multiple stator sections, or distributed winding structures.

[0003] A persistent technical challenge in such machines is the presence of torque or force ripple. Ripple arises from magnetic alignment periodicity, variation of magnetic reluctance with position, slotting effects, commutation harmonics, excitation waveform characteristics, and structural asymmetries. Oscillatory components of torque or force can produce vibration, acoustic noise, reduced efficiency, control instability, and mechanical fatigue, particularly in traction, precision motion, and high-performance applications.

[0004] Various approaches have been proposed to reduce ripple. These include rotor skewing, fractional slot windings, harmonic current injection, increasing phase count, geometric averaging, and closed-loop active ripple compensation. In other configurations, dual-air-gap or dual-rotor machines have been arranged such that average torque contributions from separate magnetic regions are combined at a common shaft. However, in such machines the magnetic interaction regions are typically excited independently and are not structurally coordinated to establish predetermined spatial phase relationships between magnetic field distributions for the purpose of producing phase opposition of oscillatory torque or force components.

[0005] However, conventional approaches typically reduce ripple within a single magnetic interaction region or rely on smoothing, averaging, or feedback-based correction. In multiregion machines, separate magnetic interaction regions are often energized independently, andoscillatory components from the respective regions may reinforce rather than intentionally oppose one another. Known arrangements do not structurally define a spatial phase relationship between magnetic field distributions of different magnetic interaction regions in coordination with commutation phase and mechanical phase such that oscillatory components are engineered to oppose while average components reinforce.

[0006] Accordingly, there exists a need for an electromagnetic architecture in which torque or force ripple is reduced inherently through coordinated spatial and commutation phase relationships between multiple magnetic interaction regions, without reliance on independent excitation channels or active real-time ripple compensation.

[0007] The present invention addresses this need by providing an electro-mechanically phased electromagnetic machine in which construction-defined spatial phase, controlled commutation phase, and optional mechanical phase are jointly coordinated such that oscillatory torque or force components generated in separate magnetic interaction regions are substantially phase-opposed while average components are substantially additive, thereby producing a substantially steady resultant output.OBJECTS OF THE INVENTION

[0008] An object of the present invention is to provide an electric machine and method capable of producing torque or force with substantially reduced ripple and a substantially steady output.

[0009] Another object of the invention is to provide an electric machine in which electromagnetic torque or force components generated in a plurality of magnetic interaction regions are phase-coordinated such that oscillatory components are substantially phase-opposed while average components are substantially additive.

[0010] Another object of the invention is to provide an electric machine in which a predetermined spatial phase relationship between magnetic field distributions in multiple magnetic interaction regions is fixed by construction, rather than being dependent on excitation waveform or instantaneous current polarity.

[0011] Another object of the invention is to provide an electric machine in which an excitation winding comprising conductors carrying substantially identical excitation current magnetically influences more than one magnetic interaction region, thereby inherently coordinating electromagnetic interactions.

[0012] Another object of the invention is to provide an electric machine in which the predetermined spatial phase relationship arises from structural features including angular oraxial conductor displacement, partial sharing or overlap of magnetic coupling regions, angular orientation of conductor planes or coil axes, and / or differentiation of flux return paths.

[0013] Another object of the invention is to provide an electric machine in which a resultant phase relationship of torque or force components is established by coordination of a commutation phase with the predetermined spatial phase relationship.

[0014] Another object of the invention is to provide an electric machine in which a predetermined mechanical phase relationship between movable magnetic members may optionally be employed to further assist phase opposition of oscillatory torque or force components.

[0015] Another object of the invention is to provide an electric machine in which ripple cancellation is achievable using different combinations of spatial phase, commutation phase, and mechanical phase, including embodiments employing approximately 90-degree, 45-degree, or zero degree, or other selected phase relationships.

[0016] Another object of the invention is to provide an electric machine in which torque or force is produced predominantly by reluctance interaction in some embodiments and by a combination of reluctance and magnetic interaction in other embodiments, while maintaining additive average output in phase.

[0017] Another object of the invention is to provide an electric machine that maintains a substantially steady output across a plurality of excitation waveforms, including sinusoidal, stepped, square, switched, or shaped waveforms, without reliance on waveform-specific harmonic compensation.

[0018] Another object of the invention is to provide an electric machine that avoids mechanical skewing, auxiliary windings, or complex control strategies to achieve steady torque or force.

[0019] Another object of the invention is to provide an electric machine applicable to axial-flux, radial-flux, or mixed-geometry configurations, and to rotary motors, linear motors, generators, and bidirectional electromagnetic devices.

[0020] Another object of the invention is to provide a method of producing torque or force in which phase coordination between electromagnetic interactions is achieved by construction, commutation, and optional mechanical arrangement.SUMMARY OF THE INVENTION

[0021] The present invention relates to an electro-mechanically phased electromagnetic machine and associated method and control system configured to produce substantially steady torque or force through coordinated phase interaction of multiple magnetic interaction regions.

[0022] In one aspect, the invention provides an electromagnetic machine comprising a stator defining a plurality of magnetic interaction regions including at least a first air gap and a second air gap, at least two movable magnetic members mechanically coupled to a common output member, and an excitation winding arranged to magnetically influence more than one of the magnetic interaction regions.

[0023] The conductors of the excitation winding are positioned relative to the stator such that magnetic field distributions established in the respective magnetic interaction regions exhibit a construction-defined spatial phase relationship. This spatial phase relationship is fixed by physical construction and may arise from angular or axial displacement of conductors, partial sharing or interleaving of stator magnetic coupling regions, angular orientation of conductor planes or coil axes, differentiation of magnetic flux return paths, or combinations thereof.

[0024] A commutation phase is established by selective energization, polarity, and sequencing of the conductors. In certain embodiments, a mechanical phase relationship is provided by a predetermined relative angular and / or axial offset between the movable magnetic members. The spatial phase, commutation phase, and mechanical phase are jointly selected such that a resultant phase displacement between oscillatory torque or force components generated in the respective magnetic interaction regions corresponds to the combined effect of structural, electrical, and mechanical phase contributions.

[0025] By virtue of this coordinated phase architecture, oscillatory torque or force components generated in the respective magnetic interaction regions are substantially phase-opposed at the common output member while average torque or force components are substantially additive. The result is a substantially steady resultant torque or force without requiring independent phase-controlled excitation channels or active real-time ripple compensation, provided that the commutation phase is maintained in coordinated relationship with the construction-defined spatial phase relationship.

[0026] In certain embodiments, the excitation winding includes shared conductor portions or a continuous conductor path magnetically coupling to multiple magnetic interaction regions. In such embodiments, a single excitation current establishes magnetic flux in more than one magnetic interaction region, and the torque or force components generated therein are electromagnetically interdependent. The machine thereby operates as a unified electromagnetic system distinct from configurations in which separate magnetic interaction regions are independently energized.

[0027] In various implementations, the stator structure may be common to multiple air gaps, and the movable magnetic members may be disposed on opposite sides of the stator. First andsecond pluralities of stator slot openings facing respective air gaps may differ in number such that reluctance torque variations occur at different mechanical angles and combine to increase steadiness of resultant torque. One movable magnetic member may predominantly produce magnetic torque while another produces reluctance torque, with spatial and mechanical phase coordination maintaining mean torque components substantially in phase while ripple components remain substantially phase-opposed.

[0028] The excitation winding may operate under balanced multi-phase excitation, including balanced four-phase excitation derived from orthogonal phase components such as +sin(cot), +cos(cot), -sin(cot), and -cos(cot). In certain embodiments, the algebraic sum of squared instantaneous phase currents remains substantially constant over an electrical cycle. Selective energization of conductor subsets or modification of waveform shape may vary average torque magnitude while preserving phase opposition of oscillatory components, thereby enabling electrical gearing without mechanical transmission modification.

[0029] The predetermined spatial and commutation phase relationships may be maintained substantially independent of excitation waveform shape, frequency, or instantaneous current magnitude. In certain embodiments, these phase relationships are defined during design and manufacturing and do not require closed-loop real-time phase control to maintain torque ripple reduction.

[0030] In another aspect, the invention provides a method of operating an electro-mechanically phased electromagnetic machine by establishing a construction-defined spatial phase relationship, establishing a commutation phase by selective energization, optionally establishing a coordinated mechanical phase offset, and combining torque or force components such that oscillatory components are substantially phase-opposed while average components are substantially additive. Ripple reduction occurs inherently from structural phase coordination rather than from closed-loop ripple compensation.

[0031] In a further aspect, the invention provides a control system including a power conversion stage and a controller configured to maintain a commutation phase relative to a construction-defined spatial phase relationship, maintain temporal synchronization of excitation across magnetic interaction regions, and coordinate energization such that oscillatory torque or force components are substantially phase-opposed while average components are substantially additive. Ripple reduction arises from coordinated interaction between commutation phase and construction-defined spatial phase under unified excitation rather than from independent regulation of individual magnetic interaction regions.

[0032] The invention is applicable to radial, axial, linear, or hybrid electromagnetic configurations and may be implemented in electric motors, generators, traction systems, linear drives, and precision motion systems requiring reduced torque or force ripple.

[0033] The predetermined spatial phase relationship is defined during machine design and manufacturing, and the commutation phase is coordinated relative thereto without requiring closed-loop real-time phase control to maintain torque or force ripple reduction.

[0034] Accordingly, the invention provides an electromagnetic machine and method in which substantially steady torque or force is achieved through construction-defined electromechanical phasing, rather than through complex control strategies or mechanical mitigation techniques, resulting in operational stability, robustness, scalability, and cost effectiveness.

[0035] In contrast to electromagnetic machines that operate based on magnetic flux modulation, harmonic gearing, or Vernier-type interaction between stator and rotor magnetic fields, the present invention achieves ripple reduction through coordinated phase relationships between electromagnetic interactions occurring in multiple magnetic interaction regions. In such embodiments, magnetic field distributions established in the respective interaction regions are intentionally spatially phase-displaced by structural placement of excitation conductors and associated magnetic coupling structures, while excitation of the conductors establishes a commutation phase of the magnetic fields. The coordinated spatial and commutation phase relationships cause oscillatory torque or force components generated in the respective interaction regions to occur at different phase angles such that the oscillatory components substantially oppose each other while average torque or force components remain substantially additive. Accordingly, the steady output produced by the present invention arises from structural phase coordination of electromagnetic interactions rather than from magnetic flux modulation, harmonic gearing, or frequency conversion effects.BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings are provided solely for the purpose of illustrating exemplary embodiments of the invention and are not intended to limit the scope of the invention. Like reference numerals refer to like elements throughout the drawings.

[0037] Figure 1 illustrates a schematic three-dimensional view of an electro-mechanically phased electromagnetic machine in accordance with a basic embodiment of the present invention, showing a stator structure and a plurality of magnetic interaction regions.

[0038] Figure 2 illustrates a schematic three-dimensional exploded view of the machine in which the movable magnetic members are arranged in an axial configuration on opposite sidesof a common stator structure, the conductors being arranged to establish substantially zero predetermined spatial phase difference between magnetic field distributions in the respective magnetic interaction regions.

[0039] Figure 3 illustrates a schematic three-dimensional view of an electric machine, showing a conductor arrangement that establishes a predetermined spatial phase relationship of approximately 45 electrical degrees between magnetic field distributions in the first and second magnetic interaction regions, together with a commutation phase of approximately 90 electrical degrees and a predetermined relative mechanical phase relationship of approximately 45 electrical degrees, resulting in phase opposition of oscillatory reluctance force or torque components.

[0040] Figure 4 illustrates a schematic three-dimensional view of an electric machine in which the conductors are arranged to establish a predetermined spatial phase relationship of approximately 45 electrical degrees and a commutation phase of approximately 90 electrical degrees, and wherein a first movable magnetic member is driven predominantly by reluctance force while a second movable magnetic member is driven predominantly by magnetic force, the respective torque or force components remaining substantially in phase in their average components.

[0041] Figure 5 illustrates a schematic three-dimensional electric machine in which the predetermined spatial phase relationship and the predetermined mechanical phase relationship between the movable magnetic members are substantially zero, and a commutation phase of approximately 180 electrical degrees is applied, resulting in phase opposition of oscillatory torque or force components generated in the respective magnetic interaction regions.

[0042] Figure 6 illustrates a schematic three-dimensional view of an electric machine in which the multiphase winding is operable under balanced four-phase excitation and the movable magnetic members are arranged with substantially zero mechanical phase offset, and in which sharing of conductors between air gaps establishes an intrinsic electromagnetic coupling.

[0043] It is to be understood that the drawings are diagrammatic in nature, and that variations in form, orientation, number of components, and geometric proportions may be made without departing from the scope of the invention as defined in the claims.DETAILED DESCRIPTION

[0044] In the disclosed electric machine, reduction of electromagnetic torque or force ripple is achieved through coordinated interaction of three distinct phase relationships, each arising from a different physical origin within the machine.

[0045] A spatial phase is established by construction through geometric placement of excitation conductors relative to a stator structure defining multiple magnetic interaction regions. The conductors are arranged to magnetically influence more than one air gap while being spatially offset with respect to each interaction region. This arrangement causes magnetic field distributions established in the respective interaction regions to exhibit a predetermined spatial phase relationship that is fixed by construction and substantially independent of the excitation waveform. As a result, torque or force components generated at the respective interaction regions are inherently phase-shifted in space.

[0046] A commutation phase arises because the same conductors or sets of conductors simultaneously excite the spatially offset magnetic interaction regions while carrying a common excitation current. Due to geometric placement and distributed magnetic coupling of the conductors relative to the respective magnetic interaction regions, magnetic field build-up and decay during current variation or commutation occur with a distributed spatial phase relationship rather than synchronously across the interaction regions. This distributed commutation behavior prevents abrupt, coincident torque transitions and significantly reduces ripple commonly associated with commutation events, including under stepped, switched, or non-sinusoidal excitation.

[0047] A mechanical phase is introduced by a deliberate relative angular or positional offset between movable magnetic members interacting with the respective magnetic interaction regions. This mechanical offset is selected with reference to the construction-fixed spatial phase and the commutation phase such that oscillatory torque or force components produced by the respective movable members occur at different phase angles.

[0048] Through combined coordination of the construction-fixed spatial phase, the commutation phase, and the selected mechanical phase, oscillatory electromagnetic components generated in the respective magnetic interaction regions are phase-displaced and substantially cancel when combined at a common output, while average torque or force components reinforce. Consequently, the machine produces substantially steady torque or force, including during commutation transitions, without reliance on skewing, complex harmonic current shaping, or auxiliary mechanical compensation mechanisms.

[0049] The invention thus achieves ripple minimization by engineering phase relationships into the electromagnetic structure itself rather than correcting ripple through control after it is generated.

[0050] In an electric machine according to the present invention, electromagnetic interactions occur in multiple magnetic interaction regions, such as a first air gap and a second air gap. Eachinteraction region produces a corresponding torque or force component that may include an average component and an oscillatory component.

[0051] In certain embodiments of the invention, an electromagnetic machine includes a plurality of magnetic interaction regions each producing a respective electromagnetic torque or force component. An excitation winding may include conductor portions magnetically coupled to more than one magnetic interaction region such that a common excitation current simultaneously establishes magnetic field distributions in the respective regions. Due to geometric placement of the conductor portions, magnetic coupling structures, and associated magnetic flux return paths, the magnetic field distributions formed in the respective interaction regions may exhibit a predetermined spatial phase displacement fixed by construction of the machine. Excitation of the winding establishes a commutation phase of the magnetic fields while the respective magnetic field distributions remain temporally synchronized. By coordinated interaction of the spatial phase displacement and the commutation phase, oscillatory torque or force components generated in the respective magnetic interaction regions may occur at different phase angles and may be substantially phase-opposed while average torque or force components remain substantially additive at a common output member, thereby producing a substantially steady resultant torque or force without reliance on closed-loop ripple compensation or magnetic flux modulation mechanisms.

[0052] In certain implementations, the spatial phase displacement and the commutation phase may combine to produce a resultant phase displacement between oscillatory torque or force components generated in the respective magnetic interaction regions that approaches n radians (approximately 180 electrical degrees), such that oscillatory components substantially cancel while average torque components remain additive. Other phase relationships may also produce substantial ripple reduction depending on machine geometry and excitation conditions.

[0053] Without limitation, the torque or force component produced in a first magnetic interaction region may be represented as:

[0054] Ti(t) = Tavgi + Tri • cos(cot)

[0055] Similarly, the torque or force component produced in a second magnetic interaction region may be represented as:

[0056] Tz(t) = Tavg2 + Tn • cos(cot + cp)

[0057] where Tavgi and Tavg2 represent average torque or force components, Tri and T represent oscillatory components, co represents an electrical angular frequency, and cp represents a resultant phase difference between the electromagnetic interactions occurring in the respective magnetic interaction regions.

[0058] The resultant torque or force is obtained by summation of the individual components:

[0059] Ttotai(t) = Ti(t) + Tz(t)

[0060] When the resultant phase difference cp is selected such that the oscillatory components are substantially phase-opposed, the oscillatory terms substantially cancel while the average components add, resulting in a substantially steady output torque or force.

[0061] According to the invention, the resultant phase difference cp is not arbitrary but is predetermined by coordinated electromagnetic and mechanical design. Without limitation, the resultant phase relationship may be expressed as:

[0062] cp = cp_c + cp_s + cp_m

[0063] Where cp_c represents a commutation phase difference of currents supplied to the conductors, cp_s represents a spatial phase relationship fixed by construction of the conductor arrangement, and cp_m represents a mechanical phase relationship between movable magnetic members.

[0064] The mechanical phase relationship cp_m, where employed, is predetermined in coordination with cp_c and cp_s and may assume any value within a selected electrical phase range, including substantially zero. In certain embodiments, cp_m may be zero, and steady torque or force is achieved exclusively through electromagnetic phase coordination. The resultant phase relationship between torque or force components generated at the respective magnetic interaction regions is governed by these three contributors.

[0065] This analytical explanation demonstrates that steady torque or force can be produced independent of excitation waveform, including sinusoidal, stepped, square, switched, or arbitrarily shaped waveforms, provided that the resultant phase relationship is appropriately controlled.

[0066] In accordance with the present invention, an electric machine comprises a stator structure defining a plurality of magnetic interaction regions including at least a first air gap and a second air gap. Each air gap magnetically interacts with a respective movable magnetic member, such as a rotor, translator, or other movable magnetic structure.

[0067] An excitation winding comprises a plurality of conductors electrically connected to carry substantially identical excitation current. The conductors are arranged such that individual conductors magnetically influence more than one magnetic interaction region.

[0068] Predetermined Spatial Phase Relationship: The conductors are positioned relative to the stator structure such that, for a given excitation state, magnetic field distributions established in the respective magnetic interaction regions exhibit a predetermined spatial phase relationship fixed by construction of the machine.

[0069] This predetermined spatial phase relationship may arise from one or more of the following: angular or axial displacement of conductors relative to the respective magnetic interaction regions; partial sharing, overlap, or interleaving of magnetic coupling regions of the stator between conductors influencing different air gaps; angular orientation of conductor planes or coil axes; and differentiation of magnetic flux return paths linking the conductors to the respective magnetic interaction regions.

[0070] Electrical Commutation Phase: Electromagnetic torque or force components produced in the respective magnetic interaction regions combine according to a resultant phase relationship established by at least:(a) a commutation phase defined by selective energization, polarity, and sequencing of the conductors or conductor groups of the excitation winding; and(b) the predetermined spatial phase relationship fixed by the conductor arrangement.

[0071] The excitation waveform may be sinusoidal, stepped, square, or otherwise shaped, without disturbing the phase opposition of ripple components when the commutation phase is maintained.

[0072] Mechanical Phase Relationship (Optional): where employed, a mechanical phase relationship between the movable magnetic members may be provided in the form of a predetermined relative angular and / or axial offset. Such mechanical phase relationship is coordinated with the commutation phase and the predetermined spatial phase relationship and biases the movable magnetic members toward different magnetic alignment conditions, thereby assisting in cancellation of oscillatory components.

[0073] It is emphasized that mechanical phase offset is optional and not required in all embodiments.

[0074] Hybrid Torque Embodiments: in certain embodiments, a first movable magnetic member is configured to produce predominantly magnetic torque, while a second movable magnetic member is configured to produce predominantly reluctance torque. Spatial conductor positioning and mechanical phase coordination are selected such that mean torque components from both movable magnetic members remain substantially in phase while ripple components remain substantially phase-opposed, thereby producing substantially steady combined torque.

[0075] Slot Differentiation Embodiment: in some embodiments, the stator includes a first plurality of slot openings facing the first air gap and a second plurality of slot openings facing the second air gap, the first plurality and the second plurality being different in number. As a result, reluctance torque variations at the respective air gaps occur at different mechanical angular positions and combine to improve steadiness of the resultant reluctance torque.

[0076] Multilevel Electrical Gearing: Selective modification of excitation waveform or selective activation of subsets of conductors alters the magnitude of resultant torque or force while substantially preserving phase opposition of ripple components. This enables discrete multilevel electrical gearing without mechanical transmission.

[0077] The conductor arrangement, commutation phase, and mechanical phase are coordinated such that torque or force components acting on both movable magnetic members remain substantially in phase with respect to their average components, while oscillatory components are phase-opposed.

[0078] The following embodiments illustrate different implementations of the electric machine according to the invention. These embodiments are provided for the purpose of explanation and are not intended to limit the scope of the claims. In all embodiments, identical or corresponding elements perform substantially similar functions and operate according to the same underlying inventive principles as defined in Claim 1.

[0079] Figure 1 illustrates a schematic three-dimensional view of a first embodiment of an electro-mechanically phased electromagnetic machine in accordance with the present invention. In the embodiment approximately zero spatial phase, approximately 90° commutation phase, and approximately 90° mechanical phase are employed (Reluctance-Reluctance Interaction). The stator structure 101 defines a plurality of magnetic interaction regions 111 and 222. In a first embodiment, the conductors of the excitation winding 011,021 are arranged relative to the stator structure such that the magnetic field distributions established in the first air gap and the second air gap exhibit substantially zero predetermined spatial phase difference. In this arrangement, magnetic field maxima and minima in the respective magnetic interaction regions occur at substantially the same spatial positions when energized.

[0080] A commutation phase of approximately 90 electrical degrees is established by selective energization, polarity, and sequencing of the conductors or conductor groups of the excitation winding. As a result, electromagnetic torque components generated in the respective magnetic interaction regions are time-shifted by the commutation phase while remaining spatially aligned.

[0081] To achieve phase opposition of oscillatory torque components, a predetermined relative mechanical phase relationship of approximately 90 electrical degrees is provided between the movable magnetic members 102, 103. This mechanical phase relationship biases the movable magnetic members toward different magnetic alignment conditions such that torque peaks in one magnetic interaction region are substantially phase-opposed by torque peaks in the second interaction region, while average torque components are additive, thereby producing asubstantially steady output. The stator includes a first plurality of slot openings facing the first air gap and a second plurality of slot openings facing the second air gap, the first plurality and the second plurality of slots occur at substantially the same mechanical angular positions, whereby reluctance torque variations occur at different mechanical angles such that maxima and minima combine to increase steadiness of resultant reluctance torque.

[0082] In this embodiment, both movable magnetic members are driven predominantly by reluctance force or reluctance torque, and ripple cancellation is achieved through combined coordination of spatial phase, commutation phase, and mechanical phase, resulting in a substantially steady output.

[0083] Figure 2 illustrates a schematic three-dimensional exploded view of the machine in which the movable magnetic members 102, 103 are arranged in an axial configuration on opposite sides of a common stator structure 101, the conductors 011, 021 being arranged to establish substantially zero predetermined spatial phase difference between magnetic field distributions in the respective magnetic interaction regions.

[0084] Figure 3 illustrates a schematic three-dimensional view of an electric machine, a second embodiment - approximately 45° spatial phase, approximately 90° commutation phase, approximately 45° mechanical phase (Reluctance-Reluctance Interaction), showing a conductor arrangement 2011, 2022 that establishes a predetermined spatial phase relationship of approximately 45 electrical degrees between magnetic field distributions in the first and second magnetic interaction regions 111, 222, together with a commutation phase of approximately 90 electrical degrees and a predetermined relative mechanical phase relationship of approximately 45 electrical degrees, resulting in phase opposition of oscillatory reluctance force or torque components; both movable magnetic members 2102, 2103 are displaced primarily by reluctance torque or reluctance force, arising from variation of magnetic reluctance with position. The stator 2101 includes a first plurality of slot openings facing the first air gap and a second plurality of slot openings facing the second air gap, the first plurality and the second plurality being different in number such that slot openings associated with the respective air gaps occur at different mechanical angular positions, whereby reluctance torque variations at the respective air gaps occur at different mechanical angular positions and combine to improve steadiness of resultant reluctance torque.

[0085] By coordination of approximately 45 spatial phase, approximately 90-degree commutation phase, and approximately 45 -degree mechanical phase, oscillatory torque components generated in the respective magnetic interaction regions 111, 222 are substantiallyphase-opposed, while average torque components are additive, thereby producing a substantially steady output.

[0086] Figure 4 illustrates a schematic three-dimensional view of electric machine, a third embodiment - approximately 45° Spatial Phase, approximately 90° commutation phase, approximately 45° mechanical phase (Reluctance-Magnetic Hybrid Interaction), showing a conductor arrangement 3011, 3022, that establishes a predetermined spatial phase relationship of approximately 45 electrical degrees between magnetic field distributions in the first and second magnetic interaction regions 111, 222, together with a commutation phase of approximately 90 electrical degrees and a predetermined relative mechanical phase relationship of approximately 45 electrical degrees, resulting in phase opposition of oscillatory reluctance force or torque components; both movable magnetic members 3102, 3103 are displaced primarily by a combination of reluctance torque and magnetic torque. The stator 3101 includes a first plurality of slot openings facing the first air gap and a second plurality of slot openings facing the second air gap, the first plurality and the second plurality being different in number such that slot openings, associated with the respective air gaps 111,222 occur at different mechanical angular positions, whereby reluctance and magnetic torque variations at the respective air gaps occur substantially in phase and combine to increase magnitude and steadiness of resultant torque.

[0087] In this embodiment, the first movable magnetic member 3102 is displaced primarily by reluctance force or reluctance torque, while the second movable magnetic member 3103 is displaced primarily by magnetic force or magnetic torque, such as arising from interaction with permanent magnet material or magnetized portions 3031, 3032 of the movable member 3103.

[0088] By coordination of approximately 45 spatial phase, approximately 90-degree commutation phase, and approximately 45 -degree mechanical phase, oscillatory torque components generated in the respective magnetic interaction regions 111, 222 are substantially phase-opposed, while average torque components are additive, thereby producing a substantially steady output.

[0089] The conductor 3011, 3022 arrangement providing spatial phase, commutation phase, and mechanical phase are coordinated such that torque or force components acting on both movable magnetic members 3102, 3103 remain substantially in phase with respect to their average components, while oscillatory components are phase-opposed. A first movable magnetic member is configured to produce magnetic torque and a second movable magnetic member is configured to produce reluctance torque, and spatial conductor positioning and mechanical phase relationship are coordinated such that mean torque components from bothmovable magnetic members remain substantially in phase while ripple components remain substantially phase -opposed, thereby producing substantially steady combined torque.

[0090] Figure 5 illustrates a schematic three-dimensional electric machine, a fourth embodiment approximately zero spatial phase, approximately zero mechanical phase, approximately 180° commutation phase (Reluctance and / or Magnetic Interaction), in which the predetermined spatial phase relationship and the predetermined mechanical phase relationship between the movable magnetic members 4102, 4103 are substantially zero, and a commutation phase of approximately 180 electrical degrees is applied, resulting in phase opposition of oscillatory torque or force components generated in the respective magnetic interaction regions 111, 222.

[0091] Figure 6 illustrates a schematic three-dimensional view showing the stator structure 4101 of the fourth embodiment, where the multiphase winding is operable under balanced four-phase excitation and the movable magnetic members are arranged with substantially zero mechanical phase offset, in which sharing of conductors between air gaps establishes an intrinsic electromagnetic coupling. The conductors 4011, 4012, 4013, 4014 are arranged such that the magnetic field distributions in the respective magnetic interaction regions exhibit substantially zero predetermined spatial phase difference, and the movable magnetic members are arranged with substantially zero relative mechanical phase difference.

[0092] In this embodiment, a commutation phase of approximately 180 electrical degrees is established by selective energization, polarity reversal, or sequencing of the conductors or conductor groups, resulting in an approximately 180-degree commutation phase. The approximately 180-degree commutation phase causes electromagnetic torque or force components generated in the respective magnetic interaction regions to be substantially phase-opposed in time. In this embodiment, the multiphase winding is operable under balanced four-phase excitation and the movable magnetic members are arranged with substantially zero mechanical phase offset, such that steady torque is produced at the respective air gaps 111, 222 due to coordinated electrical phase excitation and spatial phase displacement without requiring mechanical rotor offset.

[0093] The multiphase winding is configured for balanced four-phase excitation, such that the sum of squared phase currents remains substantially invariant during operation, and the movable magnetic members 4102, 4103 are arranged with substantially zero mechanical phase offset. In this configuration, steady torque is produced at each air gap due to coordinated electrical phase excitation combined with spatial phase displacement established by conductor placement.

[0094] The excitation winding is operable in a balanced four-phase excitation mode derived from two orthogonal phase components, including positive and negative polarity conductor groups. The four phase currents comprise +sin(cot), +cos(cot), -sin(cot), and -cos(cot).

[0095] Accordingly, ripple cancellation is achieved without requiring mechanical offset between the movable magnetic members, enabling simplified mechanical construction while retaining steady torque characteristics.

[0096] Both movable magnetic members 4102, 4103 may be displaced by reluctance force, magnetic force, or a combination thereof, depending on the construction of the movable members. Despite zero spatial and mechanical phase differences, ripple cancellation is achieved by virtue of the 180-degree commutation phase, resulting in substantially phase-opposed oscillatory components and additive average components.

[0097] In certain embodiments, selective modification of excitation waveform or selective activation of subsets of conductors alters magnitude of resultant torque or force while substantially preserving phase opposition of ripple components, thereby enabling discrete multilevel electrical gearing without mechanical transmission.

[0098] Variations or distortions in excitation waveform primarily alter torque magnitude while substantially preserving the phase relationship responsible for ripple cancellation. In this embodiment, the multiphase winding is configured for balanced four-phase excitation, and the movable magnetic members are arranged with substantially zero mechanical phase offset.

[0099] In this configuration, steady torque is produced at each air gap due to coordinated electrical phase excitation combined with spatial phase displacement established by conductor placement. The complementary sine and cosine excitation currents are applied to overlapping coils forming alternating butterfly-shaped magnetic flux loops that traverse both air gaps and rotor iron bodies. Torque remains substantially steady during commutation transitions.

[0100] In certain implementations of the invention, the electric machine is operable as an electrically geared motor and / or generator, wherein an effective torque or force level at the output is varied without mechanical modification of a gearbox or transmission. This electrical gearing effect is achieved by selective excitation of different conductor sets and / or conductor groups of the excitation winding, and / or by controlled inter-switching between excitation modes, including substantially sinusoidal excitation and stepped, pulsed, or discretized excitation. By varying the number, combination, timing, or excitation profile of active conductors while maintaining the predetermined spatial phase relationship fixed by construction and the coordinated commutation phase, the average torque or force produced by the machine may be increased, decreased, or discretely stepped, while oscillatory componentsremain substantially phase-opposed. As a result, multiple effective torque or force levels corresponding to different electrical gear ratios are obtained without altering mechanical geometry, rotor position, or physical transmission elements, thereby enabling electrical gearing in both motoring and generating modes.

[0101] In certain embodiments, the machine is operated by a control system comprising a power conversion stage and a controller configured to supply excitation current to conductors influencing multiple magnetic interaction regions. The controller maintains a commutation phase relative to a construction-defined spatial phase relationship established by the physical placement of the conductors within the stator.

[0102] Excitation applied to the magnetic interaction regions is temporally synchronous, and energization sequencing is coordinated such that oscillatory torque or force components are substantially phase-opposed while average components are substantially additive. As a result, a substantially steady resultant output is produced without requiring independent ripple compensation control for the respective magnetic interaction regions.

[0103] In the disclosed invention, the relative phase relationship between torque or force components is not dependent on instantaneous current direction or polarity. The excitation current may reverse direction, vary in magnitude, or be commutated during operation without disturbing the predetermined spatial phase relationship fixed by construction. Accordingly, the drawings do not depict instantaneous current direction, and the invention remains applicable across a wide range of excitation and commutation schemes.

[0104] The figures provided in the complete specification are illustrative embodiments intended to clearly explain the invention, and variations in form, orientation, and dimensional representation may be made without departing from the scope of the invention as defined in the appended claims.

[0105] Although many embodiments described herein illustrate two magnetic interaction regions, the principles of the present invention are not limited to two regions. In certain implementations, three or more magnetic interaction regions may be provided, each capable of generating a respective electromagnetic torque or force component. The excitation winding and associated magnetic coupling structures may be arranged such that magnetic field distributions established in the respective interaction regions exhibit predetermined spatial phase relationships relative to one another. By coordination of the spatial phase relationships with the commutation phase of the excitation, oscillatory torque or force components produced in the respective interaction regions may occur at different phase angles and may partially or substantially cancel when combined at a common output member while average torque or forcecomponents remain substantially additive. Accordingly, the principles of coordinated electromagnetic phase architecture described herein are applicable to machines having any number of magnetic interaction regions greater than or equal to two.

[0106] In certain embodiments, the excitation winding may include shared conductor portions magnetically coupling to multiple magnetic interaction regions such that a common excitation current simultaneously establishes magnetic field distributions in the respective regions. In other embodiments, separate conductor groups or separate windings may influence the respective magnetic interaction regions while being energized in coordinated relationship so as to establish magnetic field distributions having a predetermined spatial phase relationship. In such implementations, the excitation currents supplied to the respective conductor groups may be electrically derived from a common excitation source or otherwise synchronized such that oscillatory torque or force components generated in the respective magnetic interaction regions remain substantially phase-opposed while average components remain substantially additive. Accordingly, the coordinated electromagnetic phase architecture described herein may be achieved using shared conductors, partially shared conductors, or separate but phase-coordinated conductor groups without departing from the principles of the present invention.

[0107] Although described primarily with reference to rotary embodiments, the principles of the invention are equally applicable to linear machines in which movable magnetic members translate relative to a stator structure defining multiple magnetic interaction regions.ADVANTAGES OF THE INVENTION

[0108] The present invention provides an electromagnetic machine in which coordination of spatial phase, commutation phase, and optional mechanical phase is defined by construction, such that oscillatory torque or force components produced in different magnetic interaction regions are substantially phase-opposed, while average components are substantially additive, thereby producing a substantially steady output.

[0109] A primary advantage of the invention is that the steady torque or force characteristic is achieved substantially independently of excitation waveform shape, phase sequence, or instantaneous current magnitude, enabling operation with a wide variety of excitation methods without loss of steadiness.

[0110] The invention further reduces reliance on complex control algorithms, harmonic current shaping, or mechanical skewing, since phase coordination is inherently established by the geometric and electromagnetic arrangement of conductors and magnetic coupling regions.[oni] The coordinated phase relationships improve robustness against parameter variations, reduce vibration and acoustic noise, and enhance reliability, while permitting simplified control and power-electronic implementation.

[0112] The inventive concept is scalable and adaptable to rotary or linear machines, torque-producing or force -producing devices, multiple air-gap or multi-mover configurations, and is compatible with conventional manufacturing techniques and a wide range of applications. The invention is industrially applicable to electric motors, generators, linear drives, traction systems, and precision motion systems requiring reduced torque or force ripple.

Claims

I Claim:

1. An electro-mechanically phased electromagnetic machine, comprising:a stator structure defining a plurality of magnetic interaction regions including at least a first air gap and a second air gap;at least two movable magnetic members, each magnetically interacting with a respective magnetic interaction region and mechanically coupled to a common output member; an excitation winding comprising a plurality of conductors electrically connected to carry substantially identical excitation current, at least a portion of said conductors magnetically coupling simultaneously to more than one of the magnetic interaction regions such that a common excitation current establishes magnetic flux in the respective magnetic interaction regions;wherein the magnetic interaction regions are electromagnetically interdependent through the shared excitation winding;wherein the conductors are positioned relative to the stator such that, for a given excitation state, magnetic field distributions in the respective magnetic interaction regions exhibit a construction-defined spatial phase relationship;wherein said spatial phase relationship arises from at least one of:i) angular or axial displacement of the conductors relative to the respective magnetic interaction regions;ii) partial sharing, overlap, or interleaving of stator magnetic coupling regions; iii) angular orientation of conductor planes or coil axes; oriv) differentiation of magnetic flux return paths linking the conductors to the respective magnetic interaction regions;wherein torque or force components generated in the respective magnetic interaction regions combine according to a resultant phase relationship determined by:(a) a commutation phase defined by selective energization, polarity, and sequencing of the conductors or conductor groups; and(b) said construction-defined spatial phase relationship;wherein any mechanical phase relationship between the movable magnetic members comprises a predetermined relative angular and / or axial offset coordinated with the commutation phase and the spatial phase relationship;wherein the spatial phase relationship, commutation phase, and mechanical phase relationship are jointly selected such that oscillatory torque or force components generated in the respective magnetic interaction regions are substantially phase- opposed at the common output member while average torque or force components are substantially additive;wherein said phase opposition occurs without independently phase-controlled excitation channels separately regulating the respective magnetic interaction regions; thereby producing a substantially steady resultant output across a plurality of excitation waveforms without active real-time ripple compensation, provided that the commutation phase is maintained in coordinated relationship with the construction- defined spatial phase relationship.

2. An electro-mechanically phased electromagnetic machine comprising:a stator defining at least a first magnetic interaction region including a first air gap and a second magnetic interaction region including a second air gap;at least two movable magnetic members mechanically coupled to a common output member;an excitation winding comprising at least one continuous conductor path including shared conductor portions disposed within a common stator core and arranged to magnetically couple to both magnetic interaction regions;wherein a single excitation current flowing through said continuous conductor path establishes magnetic flux in both magnetic interaction regions such that torque or force components generated in the respective magnetic interaction regions are electromagnetically interdependent and not independently energizable as separate machines;wherein positioning of the shared conductor portions defines a construction-fixed spatial phase relationship between magnetic field distributions formed in the respective magnetic interaction regions;wherein selective energization establishes a commutation phase maintained relative to said spatial phase relationship;wherein any mechanical phase relationship between the movable magnetic members comprises a predetermined relative angular and / or axial offset coordinated with the commutation phase and the spatial phase relationship;such that oscillatory torque or force components generated in the respective magnetic interaction regions are substantially phase-opposed while average components are substantially additive;thereby producing a substantially steady resultant output, wherein the machine operates as a single electromagnetically integrated system distinct from dual -air-gap or dual -rotor machines having independently wound stator sections energized by electrically isolated excitation systems.

3. The electromagnetic machine according to claim 1 or 2, wherein first and second pluralities of stator slot openings face the respective air gaps and differ in number such that reluctance torque variations occur at different mechanical angles and combine to increase steadiness of resultant torque.

4. The electromagnetic machine according to claim 1 or 2, wherein one movable magnetic member produces magnetic torque and the other produces reluctance torque, and spatial conductor positioning and mechanical phase coordination maintain mean torque components substantially in phase while ripple components remain substantially phase- opposed.

5. The electromagnetic machine according to claim 1 or 2, wherein the excitation winding operates under balanced four-phase excitation and the movable magnetic members have substantially zero mechanical phase offset.

6. The electromagnetic machine according to claim 1 or 2, wherein spatial and mechanical phase relationships are substantially zero and the commutation phase alone establishes substantial phase opposition of oscillatory components.

7. The electromagnetic machine according to claim 1 or 2, wherein a same conductor or conductor segment magnetically couples to both air gaps, thereby fixing the spatial phase relationship by construction and structurally constraining the commutation phase relative thereto.

8. The electromagnetic machine according to claim 1 or 2, wherein the spatial phase relationship produces spatially offset but temporally synchronous magnetic field distributions varying according to a common excitation time function.

9. The electromagnetic machine according to claim 1, wherein the mechanical offset is selected such that torque peaks in one magnetic interaction region correspond to reduced torque in the other.

10. The electromagnetic machine according to claim 1 or 2, wherein selective energization maintains the resultant phase relationship substantially independent of instantaneous current magnitude.

11. The electromagnetic machine according to claim 1 or 2, wherein the excitation current comprises sinusoidal, stepped, square, switched, pulsed, or shaped waveforms.

12. The electromagnetic machine according to claim 1 or 2, wherein torque or force comprises reluctance torque or force generated by variation of magnetic reluctance with movable member position.

13. The electromagnetic machine according to claim 1 or 2, wherein the stator structure is common to both air gaps and the movable magnetic members are disposed on opposite sides thereof.

14. The electromagnetic machine according to claim 1 or 2, wherein conductor portions influencing the respective air gaps form part of a common excitation winding such that excitation fluctuations are concurrently imposed on both magnetic interaction regions while producing spatially phase-shifted oscillatory torque or force components.

15. The electromagnetic machine according to claim 1 or 2, wherein torque ripple is reduced by coordinated interaction of structural spatial phase, commutation phase, and mechanical phase such that oscillatory components substantially cancel and average components reinforce.

16. The electromagnetic machine according to claim 1 or 2, wherein selective energization of conductor subsets or waveform switching varies average torque magnitude while maintaining ripple phase opposition, thereby enabling electrical gearing without mechanical transmission modification.

17. The electromagnetic machine according to claim 1 or 2, wherein balanced four-phase excitation comprises phase currents having predetermined offsets such that the algebraic sum of squared instantaneous phase currents remains substantially constant over an electrical cycle.

18. The electromagnetic machine according to claim 1 or 2, wherein four-phase excitation is derived from two orthogonal phase components including positive and negative polarity conductor groups.

19. The electromagnetic machine according to claim 18, wherein the phase currents comprise +sin(cot), +cos(cot), -sin(cot), and -cos(cot).

20. The electromagnetic machine according to claim 1 or 2, operable as a motor, generator, linear drive, traction system, or precision motion system requiring reduced torque or force ripple.

21. A method of operating an electro-mechanically phased electromagnetic machine comprising:providing a stator defining multiple magnetic interaction regions, at least two movable magnetic members mechanically coupled to a common output member, and an excitation winding arranged to influence more than one magnetic interaction region; establishing a construction-defined spatial phase relationship by fixed conductor placement;establishing a commutation phase by selective energization;optionally establishing a coordinated mechanical phase offset;and combining torque or force components at the common output member such that oscillatory components are substantially phase-opposed while average components are substantially additive, wherein ripple reduction occurs without closed-loop ripple compensation.

22. The method according to claim 21, wherein different numbers of stator slot openings face the respective air gaps such that reluctance torque variations occur at different mechanical angles and combine to reduce torque ripple.

23. The method according to claim 21, wherein one movable magnetic member produces predominantly magnetic torque and another produces predominantly reluctance torque,and wherein spatial conductor positioning and mechanical phase coordination maintain mean torque components substantially in phase.

24. The method according to claim 21, wherein balanced four-phase excitation is applied and the movable magnetic members are arranged with substantially zero mechanical phase offset.

25. The method according to claim 21, wherein selective modification of excitation waveform or selective activation of subsets of conductors alters torque magnitude while preserving phase opposition of ripple components, thereby achieving multilevel electrical gearing.

26. The electromagnetic machine according to claim 1 or 2, wherein spatial and commutation phase relationships are maintained irrespective of excitation waveform shape, frequency, or instantaneous current amplitude.

27. The electromagnetic machine according to claim 1 or 2, wherein said phase relationships are defined during design and manufacturing and do not require closed-loop real-time phase control.

28. The electromagnetic machine according to claim 1 or 2, wherein the magnetic interaction regions are arranged in radial, axial, linear, or hybrid configurations.

29. A control system for the machine of claim 1 or 2, comprising:a power conversion stage configured to supply excitation current to conductors influencing multiple magnetic interaction regions; anda controller configured to:i) establish and maintain a commutation phase relative to a construction-defined spatial phase relationship;ii) maintain temporal synchronization of excitation across the magnetic interaction regions;iii) coordinate energization sequencing, polarity, and magnitude such that oscillatory torque or force components are substantially phase-opposed while average components are substantially additive; andiv) maintain said coordination substantially independent of instantaneous excitation waveform shape, current magnitude, and load variation;wherein ripple reduction arises from coordinated interaction between the commutation phase and the construction-defined spatial phase relationship under unified excitationapplied to the conductors influencing a plurality of magnetic interaction regions, rather than independent regulation of individual magnetic interaction regions.

30. An electro-mechanically phased electromagnetic machine comprising:a plurality of magnetic interaction regions each including a magnetic air gap and configured to generate a respective electromagnetic torque or force component acting on a movable magnetic member;an excitation winding comprising at least one conductor path arranged to establish magnetic field distributions in the respective magnetic interaction regions; wherein portions of the excitation winding magnetically couple to more than one of the magnetic interaction regions such that a common excitation current produces magnetic flux in the respective magnetic interaction regions;wherein the excitation winding is geometrically arranged relative to magnetic coupling structures of the machine such that magnetic field distributions established in the respective magnetic interaction regions exhibit a predetermined spatial phase displacement fixed by physical construction of the machine;wherein the predetermined spatial phase displacement results from spatial displacement of conductor portions, magnetic coupling regions, or magnetic flux return paths associated with the respective magnetic interaction regions such that periodic magnetic alignment conditions in one magnetic interaction region occur at different mechanical positions from corresponding alignment conditions in another magnetic interaction region;wherein excitation of the winding establishes a commutation phase of the magnetic field distributions while the magnetic field distributions in the respective magnetic interaction regions remain temporally synchronized by the common excitation current; wherein the spatial phase displacement and the commutation phase together form a coordinated electromagnetic phase architecture causing oscillatory torque or force components generated in the respective magnetic interaction regions to occur at different phase angles;and wherein the oscillatory torque or force components are substantially phase-opposed while average torque or force components remain substantially additive at a common output member;thereby producing a substantially steady resultant torque or force through structural phase coordination of electromagnetic interactions rather than through magnetic flux modulation, harmonic gearing effects, or closed-loop ripple compensation.

31. An electro-mechanically phased electromagnetic machine according to claim 30, wherein the spatial phase displacement and the commutation phase together produce a resultant phase displacement between oscillatory torque or force components generated in the respective magnetic interaction regions that is approximately equal to 7i radians or 180 electrical degrees, such that oscillatory torque components substantially cancel while average torque components remain additive.

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