248 results about "Magnetic gear" patented technology

The invention provides a single-ring sum-difference dual-modulation three-rotor coaxial magnetic gear and a new energy automobile hub motor. The magnetic gear comprises an h-type dual-modulation magnetic ring, an outer rotor, an inner rotor and a middle rotor. The inner rotor, the middle rotor and the outer rotor are coaxially and sequentially nested from inside to outside; the h-type dual-modulation magnetic modulation ring is positioned among the inner rotor, the middle rotor and the outer rotor, and is coaxially arranged with the inner rotor, the middle rotor and the outer rotor; the middle rotor is used as a power input rotor, the inner rotor and the outer rotor are used as power output rotors, a sum modulation effect is adopted from the middle rotor to the inner rotor, a difference modulation effect is adopted from the middle rotor to the outer rotor, and the sum modulation effect and the difference modulation effect share the h-type dual-modulation magnetic modulation ring; therefore, the h-type dual-modulation magnetic flux modulation ring modulates the axial magnetic flux and the transverse magnetic flux at the same time. The torque transmission capacity of the magnetic gear can be improved, the magnetic saturation phenomenon is restrained, the magnetic field modulation effect is enhanced, and the torque density of the magnetic gear is improved.

The invention provides an axial magnetic field modulation type magnetic gear applying a T-shaped modulation ring structure, which belongs to the field of motors and comprises a high-speed permanent magnet rotor, a low-speed permanent magnet rotor and a T-shaped modulation ring. The modulation ring comprises a plurality of T-shaped magnetic modulation pole pieces and T-shaped non-magnetic composite material pole pieces which are alternately arranged and bonded in the circumferential direction. The high-speed permanent magnet rotor and the low-speed permanent magnet rotor each comprise a rotor iron core composed of a plurality of rotor yokes, and N-pole permanent magnets and S-pole permanent magnets embedded between the adjacent rotor yokes in the circumferential direction. The high-speed permanent magnet rotor and the low-speed permanent magnet rotor coaxially sleeve the modulation ring on the two sides of the modulation ring respectively, and form radial and axial air gaps with the modulation ring. Leakage flux at the inner peripheral ends of the rotor yokes of the high-speed and low-speed permanent magnet rotors can enter the T-shaped modulation rings to be linked with magnetic flux generated by the corresponding rotor permanent magnets, the leakage flux at the inner peripheral ends of the rotor yokes on the two sides is reduced, the high-speed and low-speed rotors coaxially rotate, the air gap flux density can be increased, and therefore the gear output torque and the torque density are improved; meanwhile, the modulation ring is easy to process and compact in structure.

The invention relates to a double-layer permanent magnet radial field modulation type magnetic gear and a new energy automobile hub motor, the magnetic gear comprises a high-speed rotor, a magnetic regulation stator and a low-speed rotor, the high-speed rotor is composed of a high-speed rotor iron yoke and high-speed rotor permanent magnets, and the low-speed rotor is composed of a low-speed rotor inner layer permanent magnet, a low-speed rotor outer layer permanent magnet and a low-speed rotor iron yoke; the high-speed rotor iron yoke, the high-speed rotor permanent magnet, the flux-adjustable stator, the low-speed rotor inner-layer permanent magnet, the low-speed rotor outer-layer permanent magnet and the low-speed rotor iron yoke are coaxially nested in sequence from inside to outside; the high-speed rotor permanent magnet is composed of a plurality of permanent magnet modules of umbrella-shaped tooth structures, the low-speed rotor inner-layer permanent magnet is magnetized in a Halbach arrangement mode, the low-speed rotor outer-layer permanent magnet is magnetized in the radial direction, and the high-speed rotor permanent magnet is magnetized in a Halbach arrangement mode of umbrella-shaped teeth. The torque transmission capacity of the magnetic gear can be improved, the magnetic saturation phenomenon is restrained, the magnetic field modulation effect is enhanced, and the torque density of the magnetic gear is improved.

The invention provides a multi-magnetic-circuit single-magnetic-ring dual-modulation three-rotor coaxial magnetic gear and an automobile hub motor, the magnetic gear comprises an inner rotor, a T-shaped dual-modulation magnetic ring, an intermediate rotor and an outer rotor, the inner rotor, the T-shaped dual-modulation magnetic ring and the intermediate rotor are nested in sequence and are coaxially configured to form a radial and modulation coaxial magnetic gear structure; the middle rotor, the T-shaped dual-modulation magnetic modulation ring and the outer rotor are sequentially nested and coaxially arranged to form an axial and modulation coaxial magnetic gear structure; and sum modulation is adopted between the inner rotor and the intermediate rotor, sum modulation is adopted between the intermediate rotor and the outer rotor, and the two sum modulation and sum modulation share one T-shaped dual-modulation magnetic modulation ring, so that the monotonic magnetic ring dual-modulation effect is realized. The size of the magnetic gear can be reduced, the torque transmission capacity of the magnetic gear is improved, the magnetic saturation phenomenon is restrained, the magnetic field modulation effect is enhanced, and the torque density of the magnetic gear is improved.

The invention discloses a Y-axis knife rest reliability test bed with hybrid loading and precision testing integrated and a test method, and belongs to the technical field of reliability testing of key components of numerical control machine tools. The test bench comprises a test bench base, an automatic rotary table, a torque loading device, a loading device base, a dynamic force loading device, an analog loading rod, a Y-axis positioning precision testing device, a tested Y-axis tool rest, a transposition precision testing device and a console. A tool rest bottom plate of the test bench base is controlled by a console to move left and right and up and down, and a tested Y-axis tool rest is installed on the tool rest bottom plate. The automatic turntable comprises a turntable driven by a motor; the torque loading device comprises a generator fixed on the rotary table, and the output end of the generator is fixedly connected with a magnetic gear; the analog loading rod comprises a vertical shaft and a horizontal shaft which are in vertical transmission; the lower end of the vertical shaft is in electromagnetic induction non-contact connection with the magnetic gear; the tail end of the horizontal shaft is connected with the output end of the tested Y-axis tool rest. And the dynamic force loading device can apply a load to the analog loading rod shell.

Winding grooves are formed in a stator iron core in the circumferential direction, the winding grooves comprise outer-layer stator grooves on the yoke portion side and inner-layer stator grooves on the side close to a permanent magnet rotor, harmonic windings are embedded in the outer-layer stator grooves, and the harmonic windings are double-layer short-pitch windings; a fundamental wave winding is embedded in the inner-layer stator slot, and the fundamental wave winding is a centralized winding; a plurality of modulation teeth are arranged in the stator iron core along the circumferential direction in a non-equidistant manner; the number pf of pole pairs of the fundamental wave winding is consistent with the number pf of pole pairs of the permanent magnet rotor, the number ph of pole pairs of the harmonic wave winding is different from the number pf of pole pairs of the fundamental wave winding, and the number Ns of poles of the modulation teeth meets the condition that Ns = pf + ph, Ns = (1 + 2n) ph or Ns = (1 + 3n) ph. The technical defects that a traditional permanent magnet motor cannot utilize harmonic waves and a conventional magnetic gear effect permanent magnet motor cannot efficiently utilize harmonic waves and fundamental waves to do work can be overcome, the torque density of the motor is greatly improved while the power factor is not degraded, and the complexity, the system cost and the additional loss of a magnetic field modulation structure are reduced.

The utility model provides a motor assembly and a fan, and the motor assembly comprises a driving motor which comprises a first output shaft; the magnetic gear comprises a driving rotor, a driven rotor and a magnetism adjusting ring, the driving rotor and the driven rotor are located on the two opposite sides of the magnetism adjusting ring respectively, the driving rotor is installed on the first output shaft, and the driven rotor can rotate under the action of the driving rotor; the driven rotor comprises a second output shaft which is installed on the first output shaft and can rotate relative to the first output shaft. When the first output shaft rotates, the second output shaft can reversely rotate relative to the first output shaft. According to the motor assembly, opposite driving force can be output through the first output shaft and the second output shaft, so that a counter-rotating motor is formed. Meanwhile, according to the counter-rotating motor, the cost of the motor assembly is reduced, the structure of the motor assembly is simplified, and the counter-rotating motor has the advantages of being free of mechanical friction, small in vibration, low in noise, capable of preventing overload and the like.

The invention discloses a novel doubly-fed vernier motor, and belongs to the technical field of vernier motors, the novel doubly-fed vernier motor comprises a stator, a rotor and an air gap, the air gap is arranged between the stator and the rotor, the stator comprises stator teeth, stator slots and stator windings, the stator slots are arranged between the adjacent stator teeth, the stator windings are arranged in the stator slots, and the stator windings are arranged in the stator slots. The stator winding comprises a stator slot and a stator winding, the rotor comprises a rotor slot and a rotor winding, the rotor slot is arranged on the surface of the rotor, the rotor winding is arranged in the rotor slot, and both the stator winding and the rotor winding are double-layer windings. According to the novel doubly-fed vernier motor, different numbers of pole pairs of the stator winding and the rotor winding are set, and the stator slots with larger openings are matched, so that a magnetic gear effect is generated, the magnetic field modulation capability of the motor is improved, the average torque and the operation efficiency of the motor are improved, and the service life of the motor is prolonged. And the motor has the advantages of wide rotating speed range and adjustable power factor.

The present invention discloses a magnetic gear and a magnetic gear composite motor with a multi-slot rotor, belonging to the field of power transmission technology. The magnetic gear comprises an inner rotor, a magnetic adjustment ring, and an outer rotor; an air gap is provided between the magnetic adjustment ring and both the inner and outer rotors; the inner rotor comprises an inner rotor yoke having N1 inner rotor magnetic steel slots uniformly distributed along the circumference on the outer side, and N1 inner rotor magnets embedded in the inner rotor magnetic steel slots; the magnetic adjustment ring comprises M magnetic conductive units uniformly distributed along the circumference; the outer rotor comprises an outer rotor yoke and N2 outer rotor magnets; the inner side of the outer rotor yoke comprises N2 outer rotor magnetic steel slots uniformly distributed along the circumference, and the outer side comprises N2 idle outer rotor slots, with the N2 outer rotor magnets respectively embedded in the N2 outer rotor magnetic steel slots; the centripetal axes of the corresponding slots on the inner and outer sides of the outer rotor coincide. The present invention can solve the problems of large structural losses, low efficiency, and high mass existing in traditional concentric magnetic gears and magnetic gear composite motors.

The utility model provides a magnetism adjusting assembly, a magnetic gear, a contra-rotating motor and a fan, the magnetism adjusting assembly is used for a motor, and the magnetism adjusting assembly comprises an installation support; the magnetism adjusting ring comprises a mounting piece; the installation part is installed on the installation support, the multiple magnetism adjusting teeth are installed on the installation part at intervals in the first circumferential direction, a magnetism isolating hole is formed between every two adjacent magnetism adjusting teeth, the ends, in the length direction, of the multiple magnetism adjusting teeth are connected with the installation part, and the other ends, in the length direction, of the multiple magnetism adjusting teeth are arranged in a suspended mode; and the mounting piece and the plurality of magnetism adjusting teeth are of an integrated structure. According to the magnetic adjusting assembly, most areas of the plurality of magnetic adjusting teeth along the length direction are not connected, so that magnetic isolating holes with larger spaces are formed among the plurality of magnetic adjusting teeth, magnetic leakage can be effectively prevented, and the magnetic moment transmission effect between the driven rotor and the driving rotor is improved. Therefore, when the magnetism adjusting ring is used for the magnetic gear, the load capacity of the magnetic gear can be improved, and the out-of-step risk of the magnetic gear is reduced.

A wind turbine with adaptive nacelle preferably includes a geared blade shaft; and at least one reciprocating generator unit. The geared blade shaft includes a plurality of blade magnets attached to an outer perimeter of the blade shaft, which extend a portion of a length of the blade shaft. Each reciprocating generator unit preferably includes an intermediate magnetic gear, at least one magnetic generator gear, at least one electrical generator, at least one actuator and a retention frame. The intermediate magnetic gear and the at least one generator magnetic gear are pivotally retained in the retention frame. The at least one electrical generator is retained on the retention frame. The at least one actuator is used move the reciprocating generator unit to engage rotation of the geared blade shaft with the intermediate magnetic gear. Rotation of the geared blade shaft causes rotation of the electrical generator.

The present invention relates to a soft magnetic type electric controlled permanent magnetic gear and a control method thereof, comprising a high-speed rotor, a magnetic adjustment ring, a fixed ring and a base; the high-speed rotor is located at the center of the electric controlled permanent magnetic gear and is connected to a power input source, the magnetic adjustment ring is located in the middle of the magnetic gear and is connected to an output shaft to transmit power output; the high-speed rotor is composed of an annular magnetic conductive core A and Z1 permanent magnets, the magnetic adjustment ring is arranged with P magnetic adjustment blocks at equal intervals in the circumferential direction; the fixed ring is composed of an annular magnetic conductive core B, Z2 soft magnetic bodies, Z2 magnetic yokes and Z2 / 2 coils, and the magnetic poles of adjacent soft magnetic bodies are in opposite directions, and a group of coils are respectively wound on the soft magnetic bodies spaced from each other. The present invention realizes the power control and transmission effect that can only be achieved by the original clutch and transmission mechanism, shortens the transmission chain to the maximum extent, improves the transmission efficiency, and is suitable for transmission requirements with space limitations.

The application relates to a double-side coupling axial nutational magnetic speed reducer and a working method thereof. The speed reducer comprises a box, an input shaft is arranged at the left end of the box, a rotating disc is arranged at the right side in the box, a nutational disc is arranged in the box and rotates with the input shaft, first and second nutational magnetic gears are arranged at the left and right end faces of the nutational disc respectively, a fixed magnetic gear is arranged at the left end of the box and is magnetically coupled with the first nutational magnetic gear, and a movable magnetic gear is arranged at the left end face of the rotating disc and is magnetically coupled with the second nutational magnetic gear. The double-side coupling axial nutational magnetic speed reducer can realize few-pole difference, has simple structure, large transmission ratio and high transmission efficiency, the axial forces generated by the axial magnetic gears on the two sides can be effectively offset, the service life of bearings is prolonged, the axial force is small, and transmission is stable.

A pole-piece unit of a magnetic gear includes a pole-piece support body having a connection part that is connected to each end of a plurality of pole pieces, and a radially extending part that extends from the connection part toward an inner side in a radial direction. A first yoke unit includes an end plate that is disposed on an end surface of a first body part in an axial direction, and faces the radially extending part with a predetermined gap therebetween in the axial direction. The end plate has a magnetic material part that is made of a magnetic material, and a non-magnetic material part that is made of a non-magnetic material and disposed on an outer side in the radial direction relative to the magnetic material part.

The invention discloses a high-inertia multi-port composite motor for new energy grid connection. The high-inertia multi-port composite motor comprises a brushless doubly-fed motor, an axial permanent magnet motor and a magnetic gear structure. The brushless doubly-fed motor comprises a radial stator and a squirrel cage rotor, a power winding and a control winding are arranged in the stator and serve as a first electric port and a second electric port respectively, the axial permanent magnet motor comprises an axial stator and an axial permanent magnet rotor, and an armature winding is arranged in the stator and serves as a third electric port. The magnetic gear structure is arranged on the inner side of the squirrel cage rotor and the outer side of the rotating shaft, a brushless doubly-fed motor rotor magnetic field is used as a modulation magnetic source, the phase and amplitude of the magnetic field are adjustable, dynamic adjustment of the transmission ratio of the magnetic gear is achieved through a control winding, and electromagnetic and mechanical dual coupling is achieved. The equivalent rotational inertia of the composite motor is obviously higher than that of a single machine, stronger inertia support and frequency stability can be provided for a power grid in a new energy grid connection process, and the composite motor is provided with three independent electric ports, realizes multi-mode operation, and is compact in structure and high in power density.

The application provides a coaxial double-rotor thrust system based on a magnetic gear, comprising: a power source comprising a power input shaft; a magnetic gear comprising an inner ring, an outer ring and a modulation ring arranged between the inner ring and the outer ring; wherein the power input shaft is connected with the inner ring; an inner thrust output shaft, one end of the inner thrust output shaft being connected with the modulation ring, the other end of the inner thrust output shaft being provided with a rotor or a propeller; an outer thrust output shaft, one end of the outer thrust output shaft being connected with the outer ring, the other end of the outer thrust output shaft being provided with a rotor or a propeller; wherein the rotation direction of the outer ring is opposite to that of the modulation ring; the coaxial double-rotor thrust system based on the magnetic gear can realize co-axial forward and reverse rotation of the rotor / propeller and has a certain reducer function, so that the transmission and power structure are greatly simplified.

The invention discloses a magnetic gear motor system for a deep-sea robot and a use method of the magnetic gear motor system, and belongs to the technical field of robots. The transmission mechanism comprises two sets of power assemblies which are symmetrically arranged, a magnetic gear transmission assembly and a speed reducer assembly, the magnetic gear transmission assembly adopts a radially-arranged magnetic adjusting ring output scheme, and an air gap between an outer rotor and a machine shell is eliminated so as to reduce the machining difficulty. The switching assembly drives the motors and the inner rotors of the two subsystems to synchronously and reversely move, non-contact gear shifting with the high / low transmission ratio is achieved, and mechanical abrasion is avoided. The independent oil way system prevents metal chips of the speed reducer from polluting a magnetic gear oil way. Differential rotation or reverse rotation of the two motors is controlled, differential operation of the output end is achieved so as to reduce the turning radius or turn around in situ, and a mechanical differential mechanism is omitted. The invention has the advantages of high torque output, wear-free gear shifting and high reliability, and is suitable for deep sea heavy load operation.

The invention discloses a compressed air power generation control system based on mechanical virtual inertia and a power generation method, and belongs to the technical field of distributed power generation microgrids. Comprising a mechanical control system and a virtual inertial system. The mechanical control system comprises an air storage tank, an air compressor, a switch valve, a pressure sensor, a temperature sensor, a hydraulic motor, a magnetic gearbox, a power generation system and a power grid load. The air storage tank, the air compressor, the switch valve, the hydraulic motor, the magnetic gear box, the power generation system and the power grid load are connected in sequence; and the pressure sensor and the temperature sensor are respectively connected with the air compressor. The power generation stability is controlled through the mechanical virtual inertia method, the efficiency of the compressed air power generation system is improved, and stable operation of the compressed air power generation system under different working conditions is guaranteed.

The invention discloses a direct-driven wind power generation device based on a superconducting magnetic gear, which belongs to the technical field of wind power generation and comprises an impeller, a superconducting variable-speed magnetic gear box and a generator. The superconductive variable-speed magnetic gear box comprises a superconductive modulation type planetary magnetic gear, a magnetic coupling and a superconductive composite magnetic circuit modulation type magnetic gear; in the superconducting modulation type planet magnetic gear, an outer rotor rotates to generate a magnetic field, and an inner rotor is driven to rotate in an accelerated mode under the modulation effect of a planet carrier capable of maintaining the superconducting critical state; in the superconducting composite directional magnetic circuit modulation type magnetic gear, a front gear rotates to generate a magnetic field, and a rear gear is driven to rotate in an accelerated mode under the modulation effect of a modulation block assembly capable of maintaining a superconducting critical state. Loss in the rotating kinetic energy transmission process can be greatly reduced, the rotating kinetic energy utilization rate is increased, a complex and heavy oil injection lubrication cooling system is not needed, energy consumption is small, the weight is light, operation and maintenance are easy and convenient, and the operation and maintenance cost is greatly reduced.

The invention discloses a triboelectric wheel speed sensor based on a magnetic field modulation mechanism, and belongs to the technical field of speed measurement sensing. The sensor comprises a mechanical sensing unit and a signal processing unit, the mechanical sensing unit adopts a coaxial nesting structure of a low-speed rotor, a fixing device and a high-speed rotor, and low-speed rotation is converted into reverse high-speed rotation of the high-speed rotor by utilizing a magnetic gear mechanism, so that the friction nano power generation unit is driven to generate an alternating-current voltage signal of which the frequency is in direct proportion to the rotating speed; and the signal processing unit is used for processing the signal and calculating the wheel speed and the linear speed. Magnetic field modulation and friction power generation are combined, the output signal frequency and the signal-to-noise ratio under the low-speed working condition are effectively improved, the self-energy-supply characteristic is achieved, the defects that a traditional sensor is weak in signal and depends on an external power source at the low speed are overcome, and a high-reliability solution is provided for intelligent traffic wheel speed monitoring.

This aircraft flight trim control device (1) comprises a motor (M), a friction device (10), and an output shaft (12), the friction device (10) being coupled on one side to the motor (M) and on the other side to the output shaft (12), the control device comprising a magnetic gear (11) connected on one side to the friction device (10) and on the other side to the output shaft (12). Figure for the abbreviation: Fig 2

An electric-powered vehicle includes: an axle body that includes an axle and drive wheels connected to both ends of the axle; a magnetic geared motor for rotating the axle, the magnetic geared motor including a stator, a low-speed rotor, and a high-speed rotor; a vehicle structure supported by the axle body; a motor support for connecting the vehicle structure and the stator, and supporting the magnetic geared motor by the vehicle structure; and an elastic coupling for coupling the low-speed rotor and the axle such that a rotational force of the low-speed rotor is transmittable to the axle.

The present invention discloses a low-loss variable-flux magnetic gear, belonging to the field of magnetic gear technology. The gear comprises a rotating shaft, a coaxially arranged outer stator, a low-speed rotor, and a high-speed rotor. The high-speed rotor is fixed to the rotating shaft, the low-speed rotor is fixed to the outer surface of the high-speed rotor, and the outer stator is fixed to the outer surface of the low-speed rotor. The outer stator comprises an outer stator core fixed to the low-speed rotor, and an excitation winding, low-coercivity permanent magnets, and high-coercivity permanent magnets embedded within the outer stator core. The low-speed rotor comprises magnetic adjustment blocks and non-magnetic material evenly distributed alternately with the magnetic adjustment blocks. The high-speed rotor comprises a high-speed rotor core fixed to the rotating shaft and high-coercivity permanent magnets embedded within the high-speed rotor core. The present invention can reduce high-speed losses of the magnetic gear by changing the magnetization level of the magnetic gear, thereby improving the output performance of the magnetic gear motor transmission system.

A motive force transmission device (100) comprises: a motor (2) that has a stator (21) and a rotor (22) that is provided so as to be capable of rotating relative to the stator (21); and a magnetic gear device (1) to which drive force is transmitted directly from the motor (2). The magnetic gear device (1) comprises at least: a first magnet (11) at which a plurality of first magnetic poles (111) are arranged in the circumferential direction (C); a second magnet (12) at which a plurality of second magnetic poles (121) are arranged in the circumferential direction (C); and a pole piece (13) that is positioned between the first magnet (11) and the second magnet (12) and magnetically connects the first magnet (11) and the second magnet (12). At least one of the first magnet (11) and the second magnet (12) is ring-shaped, and the magnetic gear device (1) is a harmonic-type magnetic gear device.

This invention discloses a monotonic magnetic ring dual-rotor radial-axis composite modulation magnetic gear. The magnetic gear includes an inner rotor yoke, an inner rotor permanent magnet, a tuning ring, an outer rotor permanent magnet, and an outer rotor yoke. The inner rotor yoke and the inner rotor permanent magnet constitute the inner rotor, and the outer rotor permanent magnet and the outer rotor yoke constitute the outer rotor. The inner and outer rotors are coaxially arranged to form a dual-rotor structure, capable of relative rotation. The tuning ring, a single tuning structure, is positioned between the inner and outer rotors to simultaneously achieve radial modulation and axial differential modulation, thus forming a radial-axis dual-modulation magnetic gear. Both the inner and outer rotor permanent magnets employ an asymmetric Halbach array structure. This application achieves radial modulation and differential modulation, constructing a radial-axis coupled dual-modulation magnetic field structure, improving magnetic field utilization and torque transmission capability.

A magnetic geared electrical machine includes: a stator; a magnetic pole piece rotor including a plurality of magnetic pole pieces disposed radially inward of the stator; an inner rotor including a plurality of rotor magnets, disposed radially inward of the plurality of magnetic pole pieces, and configured to rotate at a higher speed than the magnetic pole piece rotor; and a fan for cooling at least one of the stator, the magnetic pole piece rotor, or the inner rotor. The magnetic pole piece rotor further includes a power transmission shaft disposed on one side in an axial direction relative to the plurality of magnetic pole pieces, and configured to transmit rotational power to and from an external device. The fan is attached to the inner rotor on an opposite side to the power transmission shaft with the rotor magnet therebetween in the axial direction.

Hydrokinetic fluid turbines utilize a flowing body of liquid to translate the kinetic energy of the fluid into electric power or other useful energy. The available kinetic energy is proportional to the squared fluid velocity in an open channel with a fixed cross-sectional area. The proposed twin turbine system coupled with a cycloidal magnetic gear exploits the hydrokinetic energy existing in open-channels.

This invention discloses a general construction method for a bearingless magnetic gear double-sided motor with global fundamental harmonic cancellation. The method consists of three levels: preliminary optimization, constraint 1 for the cancellation of armature magnetic field harmonics and permanent magnet harmonics before modulation, and constraint 2 for the cancellation of armature magnetic field harmonics and permanent magnet harmonics after modulation. Preliminary optimization can only reduce the pulsation generated by the fundamental wave of the levitation magnetic field and the stationary wave of the permanent magnet. Based on this, constraint 1 is proposed to reduce the levitation force pulsation generated by the armature magnetic field harmonics and permanent magnet harmonics before modulation, and constraint 2 is proposed to reduce the levitation force pulsation generated by the armature magnetic field harmonics and permanent magnet harmonics after modulation. Through the principle of global fundamental harmonic cancellation, this invention effectively reduces the levitation force pulsation of the bearingless magnetic gear double-sided motor, overcoming the shortcomings of traditional and existing levitation motor construction methods.

In some aspects, a magnetic gear system includes a flux focusing magnet arrangement having a low-pole count rotor, a pair of modulator rotors disposed on either side of the low-pole count rotor, and a pair of high-pole count outer rotors disposed outside of the pair of modulator rotors. In some aspects, a magnetic gear system includes a motor with a stator and a pair of low-pole count rotors disposed on either side of the stator. The magnetic gear system further includes a pair of modulator rotors disposed on either side of the motor, and a pair of high-pole outer rotors disposed on opposite sides of the pair of modulator rotors.

The application discloses a magnetic gear motor system for a deep-sea robot and a use method thereof, and belongs to the technical field of robots. The transmission mechanism comprises two sets of power assemblies, a magnetic gear transmission assembly and a speed reducer assembly which are symmetrically arranged, wherein the magnetic gear transmission assembly adopts a radial arrangement of a magnetic adjusting ring output scheme, and the air gap between an outer rotor and a shell is eliminated to reduce the machining difficulty. By switching the assembly to drive the motors of the two sets of subsystems and synchronously moving the inner rotors in the reverse direction, non-contact gear shifting of high / low transmission ratio is realized, and mechanical wear is avoided. An independent oil path system prevents the metal chips of the speed reducer from polluting the magnetic gear oil path. By controlling the differential speed or reverse rotation of the two motors, differential speed operation of the output end is realized to reduce the turning radius or make a U-turn in place, and a mechanical differential is omitted. The application has high torque output, non-wear gear shifting and high reliability, and is suitable for deep-sea heavy-load operation.