CN113726118B - Multi-split tooth ratio multi-port magnetic field modulation motor - Google Patents

Abstract

The invention discloses a multi-split tooth ratio multi-port magnetic field modulation motor which comprises stators with different split tooth ratios and inner and outer rotors, wherein the stators are provided with electric ports, and the inner and outer rotors are provided with two mechanical ports. The stator of the motor is applied to the middle of the inner rotor and the outer rotor, and the stator teeth are used for modulating the magnetic fields of the inner air gap and the outer air gap. The number of teeth in the stator is less than the number of teeth outside the stator, the magnetic leakage of the stator teeth is less, and the utilization rate of the iron core is high. The annular winding is embedded into the inner and outer slots of the stator and connected across the stator yoke, the annular winding with three-phase sine alternating current can provide armature magnetic fields with different pole pairs for the inner and outer air gaps, and the pole pair number of the outer armature magnetic field is higher than that of the inner armature. The motor has the characteristics of double-speed output, large torque and wide operation range, has good heat dissipation, high power factor and low copper consumption, and is suitable for occasions requiring low-speed large torque and multi-speed operation, such as electric automobiles, full-electric airplanes and the like.

Description

Multi-split gear ratio multi-port magnetic field modulation motor

technical field

The invention relates to a permanent magnet magnetic field modulation motor, in particular to a multi-split gear ratio multi-port magnetic field modulation motor.

Background technique

With the improvement of the performance of permanent magnet materials and the expansion of their industrial application prospects, permanent magnet motors have been widely used in aerospace, navigation and transportation fields, replacing traditional electric excitation motors with the advantages of high efficiency, high power density and reliable operation. In engineering, most permanent magnet motor drive systems use a combination of "high-speed motor + mechanical gear" to improve the torque density of the motor. However, such a combination will bring about a series of problems such as increased friction loss, increased noise, decreased efficiency, and decreased operational reliability. In order to solve these problems, motor researchers combined magnetic gears with permanent magnet motors to propose a magnetic field modulation motor, which is based on the "magnetic gear effect". The wave magnetic field, coupled with the rotating magnetic field with a low number of pole pairs, generates a large torque, which makes the motor have the characteristics of low speed and large torque, and improves the torque density of the motor, which has received extensive attention from scholars at home and abroad.

However, the traditional magnetic field modulation motor is driven by a set of windings and a stator to drive a rotor to rotate, which is difficult to apply to the multi-port differential output occasion. In the middle of the rotors, the two rotors are rotated by the magnetic field modulation of the magnetic control ring. However, the introduction of an additional magnetic control ring increases the number of air gaps in the structure, resulting in low space utilization and large harmonic distortion, resulting in low motor operation efficiency. In response to this problem, the researchers proposed a dual-rotor magnetic field modulation The motor uses a structure with upper and lower slots, the number of single inner and outer stator teeth is fixed and equal, and the output capacity of the two mechanical ports is the same, so the application range is limited.

SUMMARY OF THE INVENTION

In order to realize the high-efficiency application of the magnetic field modulation motor in the multi-port occasion, the present invention proposes a new multi-split gear ratio multi-port magnetic field modulation motor on the basis of exploring technologies such as the new stator structure magnetic field modulation motor and the multi-port magnetic field modulation motor. Based on the uniform distribution of different numbers of modulating teeth along the outer circumference, a special ring winding wiring method is used to generate a space armature magnetic field that can take into account the inner and outer rotors. The number of pole pairs of the space armature magnetic field modulated by the inner and outer air gaps is also different, so the rotational speed and torque output capacity of the inner and outer rotors are also different. The invention has the characteristics of multi-port output, large torque, and wide operating range, and because of the connection method of annular winding, the motor has good heat dissipation, high power factor, and low copper consumption. It has good development prospects in the occasions of torque and multi-speed operation.

Technical scheme: in order to realize the above purpose, the present invention adopts the following technical scheme:

A multi-split gear ratio multi-port magnetic field modulation motor has one electrical port and two mechanical ports. Inner and outer rotors, including:

A multi-split gear ratio stator, an inner rotor and an outer rotor, the multi-split gear ratio stator is placed between the inner rotor and the outer rotor, and the multi-split gear ratio stator includes:

The stator yoke, the inner and outer surfaces of the stator yoke are evenly distributed with stator teeth along the circumferential direction of the stator yoke, and the inner and outer layers of stator teeth are split or merged to form different numbers of modulation teeth, which are the inner modulation teeth located on the inner surface of the stator yoke respectively. teeth and outer modulation teeth on the outer surface of the stator yoke; the inner modulation teeth are evenly spaced on the inner surface of the stator yoke to form stator inner slots; the outer modulation teeth are evenly spaced on the outer surface of the stator yoke to form stator outer slots;

the inner rotor includes an inner rotor iron core and an inner rotor permanent magnet array circumferentially arranged on the outer surface of the inner rotor iron core;

The outer rotor includes an outer rotor iron core and an outer rotor permanent magnet array circumferentially arranged on the inner surface of the outer rotor iron core;

The first layer of air gap is arranged between the inner rotor permanent magnet and the multi-split gear ratio stator;

The second layer of air gap is arranged between the outer rotor permanent magnet and the multi-split gear ratio stator;

The annular winding is embedded in the inner slot of the stator and the outer slot of the stator, respectively, and generates an armature magnetic field when a three-phase sinusoidal current is passed through. The air gap of the first layer in the inner layer and the air gap in the second layer in the outer layer use different The tooth harmonics of the armature magnetic field are coupled with the inner and outer rotor permanent magnetic fields to generate output torque.

Preferably, the number of teeth of the inner modulation teeth and the number of teeth of the outer modulation teeth are different, and the number of teeth of the inner modulation teeth is less than the number of teeth of the outer modulation teeth, and the inner and outer modulation teeth are arranged in the same direction in the radial direction, or are arranged in a radial dislocation .

Preferably, according to different split tooth ratios, the inner and outer stator teeth are split or merged into different numbers of modulation teeth, and the number of teeth of the inner modulation teeth and the number of teeth of the outer modulation teeth satisfy the following formula:

为外调制齿的数目，

为内调制齿数目，k为裂齿比。in,

is the number of external modulation teeth,

is the number of internal modulation teeth, and k is the split-tooth ratio.

Preferably, the stator teeth form the modulation teeth in a symmetrical split or asymmetric split manner.

Preferably, the annular windings are connected across the stator yoke and embedded in inner and outer stator slots that are radially adjacent or staggered by a slot pitch.

Preferably, the inner rotor permanent magnet array and the outer rotor permanent magnet array are both radially magnetized and have high remanence permanent magnets with opposite magnetic pole directions arranged alternately, or both are radially magnetized and have the same magnetic pole direction and high remanence The permanent magnets and the rotor core poles are arranged alternately.

The invention further discloses a multi-split gear ratio multi-port magnetic field modulation motor, which has two electrical ports and one mechanical port, that is, a double-stator single-rotor motor, and the two electrical ports are respectively two sets wound on the inner and outer stators. When the armature winding is energized, one mechanical port is the rotor located between the two stators. The two stators adopt a multi-split tooth structure, and the number of split teeth of the inner and outer stators is different, including:

an inner stator, an outer stator and a rotor, the rotor being placed between the inner and outer stators,

The first layer of air gap is located between the inner stator and the rotor, and the second layer of air gap is located between the rotor and the outer stator; the stator teeth are evenly distributed inside the outer stator and outside the inner stator along the circumferential direction, and the inner and outer stator teeth are split by splitting Or combine to form a different number of modulation teeth;

The inner stator is matched with the inner stator winding, the outer stator is matched with the outer stator winding,

，即内、外电枢绕组在内、外气隙内产生相同极对数的空间电枢磁场，则可使转子实现高转矩密度输出；Two sets of windings can work at the same time or time-sharing. When working at the same time, the number of pole pairs of the inner and outer windings should meet the following requirements:

, that is, the inner and outer armature windings generate a space armature magnetic field with the same number of pole pairs in the inner and outer air gaps, so that the rotor can achieve high torque density output;

Where, Z _so is the number of modulated teeth of the outer stator, p _so is the number of pole pairs of the outer stator winding, Z _si is the number of modulated teeth of the inner stator, p _si is the number of pole pairs of the inner stator winding, p _r is the number of pole pairs of the rotor, and f is the frequency;

转每分钟的速度旋转；在内定子单独作用下，转子以

转每分钟的速度旋转。When working in time-sharing, under the independent action of the outer stator, the rotor is

revolutions per minute; under the sole action of the inner stator, the rotor rotates at a

Rotate at a speed of revolutions per minute.

The inner stator conditioning teeth are evenly spaced to form inner stator slots, and the outer stator modulation teeth are evenly spaced to form outer stator slots;

The outer stator windings are embedded in the outer stator slots, and the inner stator windings are embedded in the inner stator slots.

Beneficial effects: Compared with the prior art, the present invention has the following significant advantages:

(1) The present invention adopts a multi-split tooth ratio stator structure with excellent performance. The inner and outer surfaces are respectively slotted. Due to the different split tooth ratios, the inner and outer stator teeth are split or merged into different numbers of modulation teeth. Therefore, the space armature magnetic field with different pole pairs is generated in the inner and outer air gaps of the armature. For the outer rotor, the space armature magnetic field has a large difference between the number of pole pairs and the number of modulated teeth, which can be generated by using the outer rotor with more permanent magnet pole pairs. Large output torque; for the inner rotor, the difference between the number of pole pairs of the space armature magnetic field and the number of modulated teeth is small, and the inner rotor with fewer permanent magnet pole pairs can be used to make the motor run at high speed.

(2) The present invention adopts the connection method of the ring winding to cooperate with the proposed multi-split gear ratio stator structure, which can not only generate the armature magnetic field that takes into account the inner and outer rotors at the same time, but is also modulated into different pole pairs by the two groups of modulating teeth of the stator structure. space armature magnetic field, and compared with the traditional connection methods such as integer-slot distributed windings and fractional-slot concentrated windings, this winding method is simple to assemble and easy to dissipate heat. Thereby, the utilization rate of the wire can be improved, and the copper loss and end leakage reactance can also be reduced.

(3) One structure of the present invention is a multi-port magnetic field modulation motor with one electrical port and two mechanical ports. Compared with the traditional multi-port magnetic field modulation motor, it not only does not introduce an additional magnetic modulation structure, resulting in an increase in the air gap structure. , and make the output capacity of the inner and outer two mechanical ports different, and the operating range is wide; at the same time, another structure of the present invention is in the form of two electrical ports and one mechanical port. Different inner and outer two groups of energized windings generate a space armature magnetic field with the same number of pole pairs in the inner and outer air gaps, so that the single rotor can obtain the ability of high power density output; on the other hand, the time-sharing working mode can be used. When the armatures work independently, they drive the inner and outer rotors to rotate independently at different speeds. The essence of this working mode is that the two inner and outer rotors with different rated speeds share the rotor structure. The working mode can be switched freely and has a wider range of applications. .

Description of drawings

1 is a cross-sectional schematic diagram of a multi-split gear ratio multi-port magnetic field modulation motor along the axis of the present invention;

Among them, 2 is the outer rotor; 3 is the multi-split gear ratio stator; 4 is the annular winding; 101 is the rotating shaft; 103 is the inner rotor permanent magnet; 202 is the outer rotor permanent magnet;

Fig. 2 is the radial sectional schematic diagram of the multi-split gear ratio multi-port magnetic field modulation motor of the present invention;

Among them, 4 is the ring winding; 102 is the inner rotor core; 301 is the outer modulation tooth; 302 is the inner modulation tooth; 305 is the stator yoke;

FIG. 3 is a three-dimensional exploded view of a multi-split gear ratio multi-port magnetic field modulation motor split gear ratio k =2 stator according to the present invention;

Among them, 303 is the inner slot of the stator; 304 is the outer slot of the stator;

4 is a schematic diagram of a stator with a split gear ratio k =4 of a multi-split gear ratio multi-port magnetic field modulation motor of the present invention;

5 is a schematic diagram of a stator with a split gear ratio k =1 of a multi-split gear ratio multi-port magnetic field modulation motor according to the present invention;

Fig. 6 is the multi-split gear ratio and multi-port magnetic field modulation motor schematic diagram of split gear ratio k =3 stator of the present invention;

7 is a schematic diagram of the dislocation arrangement of the inner and outer modulation teeth of the multi-split gear ratio multi-port magnetic field modulation motor of the present invention;

8 is a schematic diagram of asymmetric splitting of the inner and outer modulation teeth of the multi-split gear ratio multi-port magnetic field modulation motor of the present invention;

9 is a schematic diagram of the cross-slot connection of the ring windings of the multi-split gear ratio multi-port magnetic field modulation motor of the present invention;

10 is a three-dimensional exploded view of the inner and outer rotors of the multi-split gear ratio multi-port magnetic field modulation motor of the present invention;

Among them, 201 is the outer rotor iron core; 202 is the outer rotor permanent magnet;

Figure 11 is a schematic diagram of the structure of the inner and outer rotors of the present invention;

Among them, 104 is the inner rotor core pole, and 203 is the outer rotor core pole.

12 is a schematic diagram of a radial cross-sectional view of the split-tooth ratio k =1 when the multi-split-tooth-ratio multi-port magnetic field modulation motor of the present invention adopts a double-stator structure;

Among them, 5 is the inner stator, 501 is the inner stator modulation tooth, 502 is the inner stator slot, 6 is the outer stator, 601 is the outer stator modulation tooth, 602 is the outer stator slot, 7 is the inner stator winding, 8 is the outer stator winding, 9 is the rotor;

13 is a schematic diagram of a radial cross-section of the split-tooth ratio k =2 when the multi-split-tooth-ratio multi-port magnetic field modulation motor of the present invention adopts a double-stator structure;

14 is a schematic diagram of a radial cross-section of the split-tooth ratio k =3 when the multi-split-tooth-ratio multi-port magnetic field modulation motor of the present invention adopts a double-stator structure;

15 is a schematic diagram of the rotor 9 when the multi-split gear ratio multi-port magnetic field modulation motor of the present invention adopts a double-stator structure;

Wherein, 901 is the permanent magnet pole of the rotor, and 902 is the permanent magnet pole or iron core pole opposite to the magnetizing direction of 901 .

Detailed ways

The technical solutions of the present invention will be further described below with reference to the accompanying drawings and specific embodiments of the description.

A multi-split gear ratio multi-port magnetic field modulation motor comprises a multi-split gear ratio stator, a ring winding, an inner rotor and an outer rotor, and the multi-split gear ratio stator is placed between the inner rotor and the outer rotor with an air gap left.

Among them, the ring winding adopts a ring connection mode, passing through the inner stator slot and the corresponding outer stator slot respectively, and passing a three-phase sinusoidal alternating current to the ring winding can generate a rotating armature magnetic field that takes into account the inner and outer rotors.

Further, the present invention adopts radially magnetized and oppositely directed high-remanence permanent magnets to be arranged at intervals to form inner and outer rotor permanent magnets, and the inner rotor permanent magnets and the outer rotor permanent magnets are respectively installed outside the inner rotor and inside the outer rotor to establish the inner and outer permanent magnets. Momentum, because the number of pole pairs between the two is not equal, the rotation speed of the motor is not equal when it is working.

Furthermore, the multi-split-tooth ratio stator includes a stator yoke, inner stator teeth and outer stator teeth. According to different split-tooth ratios, the inner and outer stator teeth are split or merged into different numbers of modulation teeth.

，内调制齿数目为

，裂齿比为k，外转子永磁极对数为

，内转子永磁极对数为

，则调制齿的数目满足：The number of external modulation teeth is recorded as

, the number of internal modulation teeth is

, the split gear ratio is k , and the number of permanent magnet pole pairs of the outer rotor is

, the number of permanent magnet pole pairs of the inner rotor is

, then the number of modulating teeth satisfies:

的空间电枢磁场时，电机正常运转的条件为上述参数满足如下公式：When the three-phase sinusoidal alternating current is injected into the ring winding to produce a pole pair number of

When the space armature magnetic field is , the condition for the normal operation of the motor is that the above parameters satisfy the following formula:

。

.

Example 1

As shown in Figures 1 and 2, the present invention discloses a multi-split gear ratio multi-port magnetic field modulation motor, which includes a multi-split gear ratio stator 3, an annular winding 4, an inner rotor 1, an inner rotor permanent magnet 103, a rotating shaft 101 , outer rotor 2 and outer rotor permanent magnet 202 . The first layer of air gap is located between the inner rotor permanent magnet 103 and the multi-split gear ratio stator 3, and the second layer of air gap is located between the outer rotor permanent magnet 202 and the multi-split gear ratio stator 3; the inner and outer surfaces of the stator yoke 305 are along the The stator teeth are evenly distributed around the circumference, and the inner and outer two layers of stator teeth are split or merged to form different numbers of modulation teeth; the inner and outer modulation teeth are evenly spaced to form stator outer slots 304 and stator inner slots 303, and the annular winding 4 is embedded in the radial direction. The stator inner slots 303 and the stator outer slots 304 are in the same direction; the outer modulation teeth 301 and the inner modulation teeth 302 are radially in the same direction; The magnetic pole 103, the inner surface of the outer rotor 2 is evenly affixed with the outer rotor permanent magnets 202 with opposite magnetization directions and alternately arranged along the circumference;

The rotating shaft 101 , the inner rotor 1 , the inner rotor permanent magnet 103 , the multi-split gear ratio stator 3 , the outer rotor 2 and the outer rotor permanent magnet 202 are all coaxially sleeved.

As shown in FIG. 2 , the ring winding 4 is embedded in the inner stator slot 303 and the outer stator slot 304 respectively, and the armature magnetic field is generated by imparting three-phase sinusoidal alternating current to the ring winding, and the armature magnetic field is modulated by the inner teeth 302 and the outer The modulation teeth 301 are modulated, and the inner and outer air gaps use different armature magnetic field tooth harmonics to couple with the inner and outer rotor permanent magnetic fields to generate output torque.

结构外，还可以演变为如图4、图5和图6所示的结构，其k分别为4、1、3。考虑到漏磁、装备难度等因素，一般要求内调制齿数目较外调制齿数目少，则

一般大于1；当

时，内外调制齿数目相等，则两机械端口同步运行。裂齿比

越大，则外转子永磁极对数和内转子永磁极对数相差越大，此时内外两机械端口的转速相差越大。As shown in Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, the inner and outer surfaces of the stator yoke 305 are evenly arranged with outer modulation teeth 301 and inner modulation teeth 302, respectively. Both layers of modulation teeth can be made according to design requirements. Merge or split to achieve different split-tooth ratios. In addition to the one shown in Figure 3

In addition to the structure, it can also evolve into the structure shown in Figure 4, Figure 5 and Figure 6, where k is 4, 1, and 3, respectively. Considering factors such as magnetic flux leakage and equipment difficulty, it is generally required that the number of internal modulation teeth is less than the number of external modulation teeth, then

Generally greater than 1; when

When the number of inner and outer modulation teeth is equal, the two mechanical ports run synchronously. split-tooth ratio

The greater the difference, the greater the difference between the number of permanent magnet pole pairs of the outer rotor and the number of permanent magnet pole pairs of the inner rotor, and the greater the difference between the rotational speeds of the inner and outer mechanical ports.

As shown in Fig. 7, Fig. 8, Fig. 9, the novel stator structure proposed by the present invention can also be evolved into three asymmetric structures: the inner and outer modulating teeth can be arranged not only in the same direction in the radial direction, but also in radial dislocation. arrangement;

As a preference of this embodiment, the inner and outer modulating teeth can adopt symmetrical splitting or asymmetric splitting;

As a preference of this embodiment, the stator ring winding can not only be embedded in the radially same stator inner and outer slots and connected across the stator yoke, but also can be embedded in the inner and outer slots with a staggered slot distance.

When the above several new stator structures are adopted, the torque ripple can be reduced and the reliability of the motor output can be improved on the premise that the total output torque is reduced very little.

Example 2

As shown in Figures 12 and 13, the present invention further discloses a second structure of a multi-split gear ratio multi-port magnetic field modulation motor, that is, using dual stator electrical ports and a rotor 9 mechanical output port. The motor includes an outer stator 6 , an inner stator 5 , an outer stator winding 8 , an inner stator winding 7 , a rotor 9 and a rotating shaft 101 . The first layer of air gap is located between the inner stator 5 and the rotor 9, and the second layer of air gap is located between the rotor 9 and the outer stator 6; the inside of the outer stator 6 and the outside of the inner stator 5 are evenly distributed along the circumferential direction. , The outer stator teeth are split or merged to form different numbers of modulation teeth; the inner and outer modulation teeth are evenly spaced to form outer stator slots 602 and inner stator slots 502, the outer stator winding 8 is embedded in the outer stator slots, the inner stator The winding 7 is embedded in the inner stator slot; the outer stator modulation teeth 601 and the inner stator modulation teeth 501 are radially in the same direction; the rotor 9 is a cup-shaped structure, 901 is the permanent magnet pole of the rotor, and 902 is a permanent magnet with a magnetizing direction opposite to that of 901. Magnetic pole or iron core pole.

The outer stator 6, the rotor 9, the inner stator 5, and the rotating shaft 101 are all coaxially sleeved.

，则可使转子实现高转矩密度输出。分时工作时，在外定子单独作用下，转子以

转每分钟的速度旋转；在内定子单独作用下，转子以

转每分钟的速度旋转。该工况实质上是一台内转子磁场调制电机和一台外转子磁场调制电机共用转子结构，此时工作模式切换十分方便并且具有宽运行范围的优点。As shown in FIG. 12 , the armature magnetic field is generated by passing three-phase sinusoidal alternating current to the two windings. The armature magnetic field is modulated by the outer stator modulation teeth 601 and the inner stator modulation teeth 501 respectively. The output torque is generated by coupling with the permanent magnetic field generated by the rotor 9 . Two sets of armature windings can work at the same time or in time. When working at the same time, if the number of pole pairs of the inner and outer windings satisfies:

, the rotor can achieve high torque density output. When working in time-sharing, under the independent action of the outer stator, the rotor is

revolutions per minute; under the sole action of the inner stator, the rotor rotates at a

Rotate at a speed of revolutions per minute. This working condition is essentially that an inner rotor magnetic field modulation motor and an outer rotor magnetic field modulation motor share the rotor structure. At this time, the working mode switching is very convenient and has the advantage of a wide operating range.

As shown in FIG. 12 , the inner surface of the outer stator 6 and the outer surface of the inner stator 5 are respectively uniformly arranged with outer stator modulation teeth 601 and inner stator modulation teeth 501 , both of which can be combined or combined according to design requirements. Split to different split-tooth ratios. In addition to the k =1 structure shown in Figure 12, the structures shown in Figures 13 and 14 can also be evolved, where k =2, 3.

Claims (5)

1. A multi-split gear ratio multi-port magnetic field modulation motor, having one electrical port and two mechanical ports, the electrical ports being a multi-split gear ratio stator (3) and a ring winding (4) with energized upper and lower slots, The mechanical ports are the inner rotor (1) and the outer rotor (2) with different numbers of pole pairs, including: A multi-split tooth ratio stator (3), an inner rotor (1) and an outer rotor (2), the multi-split tooth ratio stator (3) being placed between the inner rotor and the outer rotor, characterized in that the multi-split tooth ratio stator (3) is characterized in that the multi-split tooth ratio stator (3) is Than the stator (3) includes: Stator yoke (305), the inner and outer surfaces of the stator yoke (305) are evenly distributed with stator teeth along the circumferential direction of the stator yoke, and the inner and outer two layers of stator teeth are split or merged to form different numbers of modulation teeth, which are respectively located in the stator. Inner modulation teeth (301) on the inner surface of the yoke (305) and outer modulation teeth (301) located on the outer surface of the stator yoke (305); the inner modulation teeth (301) are formed on the inner surface of the stator yoke (305) by being evenly spaced stator inner slots (303); the outer modulation teeth (301) are evenly spaced on the outer surface of the stator yoke (305) to form stator outer slots (304); The inner rotor (1) comprises an inner rotor iron core (102) and an inner rotor permanent magnet (103) array circumferentially arranged on the outer surface of the inner rotor iron core (102); The outer rotor (2) includes an outer rotor iron core (201) and an outer rotor permanent magnet (202) array circumferentially arranged on the inner surface of the outer rotor iron core (201); The first layer of air gap is arranged between the inner rotor permanent magnet (103) and the multi-split gear ratio stator (3); The second layer of air gap is arranged between the outer rotor permanent magnet (202) and the multi-split gear ratio stator (3); The annular winding (4) is embedded in the inner stator slot (303) and the outer stator slot (304) respectively, and generates an armature magnetic field when a three-phase sinusoidal current is passed, the air gap of the first layer located in the inner layer and the air gap of the first layer located in the outer layer. The second-layer air gap utilizes different armature magnetic field tooth harmonics to couple with the inner and outer rotor permanent magnet magnetic fields to generate output torque; According to the different split ratios, the inner and outer stator teeth are split or merged into different numbers of modulation teeth, and the number of inner modulation teeth and outer modulation teeth satisfy the following formula:

in,

is the number of external modulation teeth,

is the number of internal modulation teeth, and k is the split-tooth ratio. 2. The multi-split gear ratio multi-port magnetic field modulation motor according to claim 1, wherein, The number of teeth of the inner modulation teeth (301) and the number of teeth of the outer modulation teeth (302) are different, and the number of teeth of the inner modulation teeth (302) is less than the number of teeth of the outer modulation teeth (301), and the inner and outer modulation teeth are radially the same. Oriented, or radially dislocated. 3. The multi-split gear ratio multi-port magnetic field modulation motor according to claim 1, wherein: The stator teeth are split symmetrically or asymmetrically to form the modulation teeth. 4. The multi-split gear ratio multi-port magnetic field modulation motor according to claim 1, wherein: The annular winding (4) is connected across the stator yoke (305) and embedded in inner and outer stator slots that are radially adjacent or staggered by a slot pitch. 5. The multi-split gear ratio multi-port magnetic field modulation motor according to claim 1, wherein: The inner rotor permanent magnet (103) array and the outer rotor permanent magnet (202) array are both radially magnetized and composed of alternately arranged high-remanence permanent magnets with opposite magnetic pole directions, or both are radially magnetized and have the same magnetic pole direction The high-remanence permanent magnets are alternately arranged with the rotor core poles.

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