The invention discloses a modular vernier permanent magnetic
linear motor based on a Halbach permanent
magnetic structure. The modular vernier permanent magnetic
linear motor comprises 3k mover modules and one
stator, there are air gaps between the two, the
stator comprises a permanent
magnet which is provided with a
stator core, is surface-mounted to the stator core and has a
Halbach array structure, armature windings are arranged in grooves of the mover modules, positions of each phase of the armature windings in the different mover modules are different, positions of axles of the same phase of the armature windings in each module correspondingly relative to the stator permanent
magnet are maintained consistent, each module can work as an individual complete vernier permanent magnetic
linear motor, two adjacent mover modules are connected by use of a
magnetic barrier made of a non-magnetic material, the different mover modules respectively generate push forces with certain phase differences with the stator, through modular combination of movers and variation of positions of the windings in the different modules, each phase of the windings is enabled to have a completely
symmetric structure in an overall view, and thus the effect of offsetting and weakening thrust fluctuations is realized.