CN117761166A - Electromagnetic ultrasonic quantification method for pipeline cracks and electromagnetic ultrasonic torsion guided wave transducer - Google Patents
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Abstract
The invention belongs to the technical field of crack detection of oil and gas pipelines, and particularly relates to an electromagnetic ultrasonic quantification method for pipeline cracks and an electromagnetic ultrasonic torsion guided wave transducer. The method can effectively realize the accurate quantification of the size of the pipeline crack, and provides technical support for crack detection and working state evaluation of a pipeline system. The electromagnetic ultrasonic quantification method for the pipeline cracks comprises the following steps: measuring a known depth of the surface of a pipeH 1Crack lengthLIs a crack; fitting the data to obtain a crack depth ofH 1the relation between the torsional mode component peak value, the first-order bending mode component peak value and the crack length; deducing a relational expression between the torsional mode component peak value and the first-order bending mode component peak value under any crack condition; and inverting to obtain a crack size quantization equation set.
Description
Technical Field
The invention belongs to the technical field of crack detection of oil and gas pipelines, and particularly relates to an electromagnetic ultrasonic quantification method for pipeline cracks and an electromagnetic ultrasonic torsion guided wave transducer.
Background
The oil-gas pipeline system is used as pipeline equipment for conveying petroleum and natural gas, has the characteristics of long-distance transportation, 24-hour uninterrupted continuous transportation, environmental protection, energy conservation, convenient maintenance, economy, convenience and the like, and is widely applied to the transportation scenes of various liquids and gases (such as sewage, slurry, petroleum, natural gas and the like) in oil field well sites, and has an irreplaceable position in the production process of oil-gas field enterprises.
However, in the further research process, the inventor finds that the existing pipeline is influenced by complex severe working condition environments and the corrosion of internal and external media in the long-term use process, and the pipeline is easy to generate the phenomena of stress cracking, aging and corrosion, so that the risk of safety accidents such as leakage, explosion and the like exists, and the safety service of a pipeline system is seriously threatened.
In this regard, the technical idea of using electromagnetic ultrasonic guided waves to realize pipeline crack detection is proposed by the technicians. Specifically, the electromagnetic ultrasonic guided wave detection process utilizes an electromagnetic ultrasonic probe to generate ultrasonic vibration in metal, and detects defects by detecting the effects of reflection, modal transformation and the like of ultrasonic guided waves on the defects, so that the electromagnetic ultrasonic guided wave detection process has the characteristics of non-contact detection, long detection distance and full wall thickness detection. The torsional guided wave is used as one of the longitudinal guided waves of the pipeline, and has the advantages of no dispersion, low energy attenuation and easiness in signal interpretation.
However, the existing domestic ultrasonic guided wave detection technology is not mature enough, quantitative analysis of cracks of the pipeline structure cannot be realized, and relevant information of the cracks is difficult to accurately obtain; in addition, in the actual detection, due to the influence of factors such as environmental noise and the like, erroneous judgment and missed judgment are easy to cause. In addition, for the quantification process of pipeline cracks, a complex nonlinear relation is presented between the signal amplitude of the (single acoustic) electromagnetic ultrasonic crack response signal and the two-dimensional dimensions of crack length and depth, and the size information of the crack cannot be accurately obtained through the single signal amplitude. Accordingly, there is a need to provide a method for enabling long distance detection of a pipeline, and for effectively quantifying crack size information, thereby providing an effective treatment scheme for crack detection of a pipeline.
Disclosure of Invention
The invention provides an electromagnetic ultrasonic quantification method for pipeline cracks and an electromagnetic ultrasonic torsion guided wave transducer, which can effectively realize accurate quantification of the sizes of pipeline cracks and provide technical support for crack detection and working state evaluation of a pipeline system.
in order to solve the technical problems, the invention adopts the following technical scheme:
the invention provides a pipeline crack electromagnetic ultrasonic quantification method, which comprises the following steps:
Measuring a known depth of the surface of a pipeH 1Crack lengthLIs a crack;
the torsional mode component peak value corresponding to the artificial crack is obtained through a guided wave mode decomposition methodT max1peak value of first-order bending mode componentF max1the method comprises the steps of carrying out a first treatment on the surface of the Drawing a relation curve between a torsional mode component peak value, a first-order bending mode component peak value and a crack length of the artificial crack;
Obtaining the crack depth as follows by a data fitting methodH 1In this case, the relation between the torsional mode component peak value, the first-order bending mode component peak value, and the crack length is as follows:Formula (1);
In the formula (1) of the compound,The attenuation coefficient of the torsional guided wave is R, and the pipe diameter of the pipeline; obtaining torsional mode intensity coefficient in fitting relationk T And bending mode strength coefficientk F ；
Based on crack depth ofH 1When the method is used, the relation between the torsional mode component peak value, the first-order bending mode component peak value and the torsional mode component peak value and the first-order bending mode component peak value under any crack condition is deduced according to the proportional rule between the torsional mode component peak value, the first-order bending mode component peak value and the crack length, and the method meets the following conditions:Formula (2);
further inverting the formula (2) to obtain a crack size quantization equation set, wherein the crack size quantization equation set satisfies:formula (3);
detecting cracks of any unknown size; obtaining torsional mode component peak values corresponding to cracks with unknown sizes through a guided wave mode decomposition methodT max0 peak value of first-order bending mode componentF max0 Substituting the crack length into the quantized equation set of the formula (3) to calculate the crack length of the unknown-size crackL 0 Depth of crackH 0。
On the other hand, the invention also provides an electromagnetic ultrasonic torsion guided wave transducer, which comprises a plurality of annular and uniformly arranged transducer arrays; the transducer array consists of a permanent magnet and a runway coil; wherein, each runway coil is arranged with two permanent magnets;
The NS magnetic pole directions of the permanent magnets are consistent with the radial direction of the pipeline to be measured, and the NS magnetic pole directions of the adjacent permanent magnets arranged in the same row are opposite; the length direction of the runway coil is placed along the axial direction of the pipeline to be measured.
Preferably, the electromagnetic ultrasonic torsion guided wave transducer is also provided with an excitation transducer S1and a receiving transducer S2；
Wherein the transducer S is excited1The excitation signal is a three-period pulse sine signal modulated by a hanning window; after the excitation signal is loaded to the runway coils, the current flowing directions in the runway coils are consistent.
preferably, the torsional guided wave excited by the electromagnetic ultrasonic torsional guided wave transducer is a T (0, 1) modal guided wave, and the frequency is less than 100kHz;
the number of transducer arrays contained in the electromagnetic ultrasonic torsional guided wave transducernand the length of the permanent magnet is equal to or more than 6 and is half of the wavelength of the torsional guided wave.
Preferably, the permanent magnet is made of neodymium iron boron material, the magnetic flux density is more than 0.6T, and the height is 20-25 mm; the number of permanent magnets arranged in the same row in the circumferential direction is more than 24, and the distance between adjacent permanent magnets is less than 2mm;
the runway coil is formed by winding copper enameled wires, the wire diameter of the runway coil is between 0.1 and 0.5mm, the size of a straight wire part of the runway coil is consistent with that of the permanent magnet, and the lifting distance of the runway coil is not more than 2mm.
the invention provides a pipeline crack electromagnetic ultrasonic quantification method and an electromagnetic ultrasonic torsion guided wave transducer, wherein the pipeline crack electromagnetic ultrasonic quantification method comprises the following steps: measuring a known depth of the surface of a pipeH 1Crack lengthLIs a crack; fitting the data to obtain a crack depth ofH 1the relation between the torsional mode component peak value, the first-order bending mode component peak value and the crack length; deducing a relational expression between the torsional mode component peak value and the first-order bending mode component peak value under any crack condition; and inverting to obtain a crack size quantization equation set. Compared with the prior art, the electromagnetic ultrasonic quantification method for the pipeline crack and the electromagnetic ultrasonic torsion guided wave transducer have at least the following beneficial effects:
(1) The electromagnetic ultrasonic torsion guided wave transducer provided by the invention can realize that torsion guided waves uniformly propagate in the whole circumferential direction of a pipeline; the circumferential uniformity and excitation efficiency of the torsional guided wave are further improved through optimizing key structural parameters of the transducer;
(2) According to the pipeline crack electromagnetic ultrasonic quantification method, the problem that analysis of the echo characteristics of defects is difficult to quantify under the conditions of high-frequency noise background and aliasing signals is solved through modal decomposition, the analysis difficulty of received signals is simplified, and a quantification equation set of crack size is obtained through a data fitting mode; the relation among the crack length and depth, bending mode and torsional mode peaks is searched, the accurate quantitative inversion of the crack size is realized based on electromagnetic ultrasonic mode signals by utilizing the intensity information of defect signals under different mode components, the technical problem of complex nonlinear correspondence between the original signal peaks and the two-dimensional parameters of the cracks in the prior art is solved, and a feasible operation scheme is provided for quantitative detection of the pipeline cracks.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the following figures:
FIG. 1 is a schematic diagram of an electromagnetic ultrasonic torsional guided wave transducer provided by the invention;
FIG. 2 is a waveform diagram of an excitation current signal;
FIG. 3 is a graph of the received signal at an excitation frequency of 80kHz for an excitation current signal;
FIG. 4 is a graph of the received signal at an excitation frequency of 100kHz for an excitation current signal;
FIG. 5 is a graph of the received signal at an excitation frequency of 120kHz for an excitation current signal;
FIG. 6 is a graph of the received signal at an excitation frequency of 140kHz for an excitation current signal;
FIG. 7 is a graph showing the signal strength variation for different permanent magnet lengths;
FIG. 8 is a circumferential distribution of received signals for 1 transducer array;
FIG. 9 is a circumferential distribution of received signals for 2 transducer arrays;
FIG. 10 is a circumferential distribution of received signals for 3 transducer arrays;
FIG. 11 is a circumferential distribution of received signals for 4 transducer arrays;
FIG. 12 is a circumferential distribution of received signals for 5 transducer arrays;
FIG. 13 is a circumferential distribution of received signals for 6 transducer arrays;
FIG. 14 is a schematic flow chart of the electromagnetic ultrasonic quantification method for pipeline cracks provided by the invention;
FIG. 15 is a graph plotting the relationship between the torsional mode component peak, the first-order bending mode component peak, and the crack length of the resulting artificial crack;
fig. 16 is a graph showing the relationship between the torsional mode component peak value, the first-order bending mode component peak value, and the crack depth of the obtained artificial crack.
reference numerals:
1. a permanent magnet; 2. a racetrack coil; 3. the pipe is to be measured.
Detailed Description
The invention provides an electromagnetic ultrasonic quantification method for pipeline cracks and an electromagnetic ultrasonic torsion guided wave transducer, which can effectively realize accurate quantification of the sizes of pipeline cracks and provide technical support for crack detection and working state evaluation of a pipeline system.
specifically, firstly, the structural characteristics of the electromagnetic ultrasonic torsion guided wave transducer provided by the invention are explained as follows:
As shown in figure 1, the electromagnetic ultrasonic torsion guided wave transducer comprises a plurality of transducer arrays formed by permanent magnets 1 and runway coils 2, and the plurality of transducer arrays are annularly and uniformly distributed (preferably provided with the quantitynTransducer array of 6).
Wherein, two permanent magnets 1 are arranged at each runway coil 2 (i.e. the transducer array is formed by the runway coils 2 and the two permanent magnets 1 matched with each other), the NS magnetic pole directions of the permanent magnets 1 are consistent with the radial direction of the pipeline 3 to be measured, and the NS magnetic pole directions of the adjacent permanent magnets 1 arranged in the same row are opposite. And the length direction of the track coil 2 is placed along the axial direction of the pipeline 3 to be measured.
in addition, as a preferable embodiment of the invention, an excitation transducer S is also arranged in the electromagnetic ultrasonic torsion guided wave transducer1and a receiving transducer S2. Wherein the transducer S is excited1The excitation signal used is a three-period pulse sine signal modulated by a hanning window. The excitation signal is used in particular to align the current flow direction in the plurality of track coils 2 after loading the track coils 2.
To facilitate an understanding of the present invention by those skilled in the art, the applicant further provides the following specific examples as illustrations. In this example, the pipeline 3 to be measured is a seamless industrial steel pipe of 20# steel, having an outer diameter of 86mm and a wall thickness of 10mm. Wherein, a circumferential artificial crack with the length of 30mm, the width of 2mm and the depth of 4mm is processed on the pipeline, the crack is 70mm away from the receiving transducer, and the circumferential angle of the crack center is 180 degrees. The length of the permanent magnet 1 in the electromagnetic ultrasonic torsion guided wave transducer is 15mm, the width is 20mm, and the height is 20mm. Adjacent permanent magnets 1 arranged in the same row are periodically arranged alternately (i.e. NS magnetic poles of the adjacent permanent magnets 1 are opposite in direction), so as to provide a periodic radial bias magnetic field. The runway coil 2 is formed by winding enamelled copper wires with the wire diameter of 0.2mm, and the number of turns is 100. Notably, the length of the straight wire section of the racetrack coil 2 is chosen to be 30m in order to match the dimensions of the permanent magnet 1 provided above. The runway coil 2 is loaded with a current signal so as to induce on the surface of the pipeline an eddy current of the same frequency opposite to the current direction of the coil. The induced eddy current generates high-frequency Lorentz force in the pipeline 3 to be measured under the action of a radial bias magnetic field, so that shearing vibration of particles in the pipeline 3 to be measured is driven to form torsion guided waves.
Specifically, the excitation current signal can refer to a three-period pulse sine signal modulated by a hanning window, as shown in fig. 2, and the frequency is 100kHz, so that torsional guided wave excitation of a T (0, 1) mode is realized in a pipeline with a wall thickness of 10 mm. Through a plurality of transducer arrays which are distributed evenly in an annular mode, full circumferential excitation of the torsion guided wave of the pipeline is achieved. Then, a radial bias magnetic field is provided by placing a permanent magnet directly above the coil straight wire portion. Finally, the electromagnetic ultrasonic torsion guided wave transducer provided by the invention is adsorbed on the surface of a pipeline, the position of the transducer array is fixed, and the excitation and receiving simultaneity of the torsion guided wave is ensured.
Further, the excitation frequency f of the excitation current signal is set to 80, 100, 120, 140kHz. As shown in fig. 3 to 6, when the excitation frequency f is greater than 100khz, the t (0, 2) mode is gradually generated, so that signal analysis becomes more complex; and as the frequency increases, the intensity of the T (0, 1) modal component gradually decreases. Therefore, in order to prevent dispersion of guided waves and to improve the detection intensity, the excitation frequency f should preferably be made smaller than 100kHz.
and selecting and setting the length of the permanent magnet to be 11-18 mm. Specifically, as shown in fig. 7, the torsional guided wave wavelength is 30mm in this embodiment. When the length of the permanent magnet is half of the guided wave wavelength, namely the length of the permanent magnet is 15mm, the space period of the permanent magnet is matched with the torsional guided wave wavelength, and the excitation intensity of the transducer array is highest. If the length of the permanent magnet is further increased, destructive interference occurs between the guided waves, so that the excitation intensity is weakened.
Finally, the transducer array number selection problem is explained as follows. As shown in fig. 8-13, fig. 8-13 respectively show signal cases using different numbers of transducer arrays (1-6). It can be seen that as the number of transducer arrays increases, the signal margin becomes smaller and the waveguide is distributed more uniformly circumferentially. When the number of the transducer arrays is at least 6, the amplitudes of the guided waves distributed along the circumferential direction are basically equal, and the characteristics of the torsional guided waves uniformly spread along the whole circumferential direction of the pipeline are met, so that the number of the transducer arrays is preferably requirednand is more than or equal to 6 so as to ensure the uniform excitation of the torsional guided wave in the whole circumferential direction.
as another aspect of the invention, the invention also provides a pipeline crack electromagnetic ultrasonic quantification method, as shown in FIG. 14, comprising the following steps:
Measuring a known depth of the surface of a pipeH 1Crack lengthLis a crack.
the torsional mode component peak value corresponding to the artificial crack is obtained through a guided wave mode decomposition methodT max1peak value of first-order bending mode componentF max1The method comprises the steps of carrying out a first treatment on the surface of the And drawing a relation curve between the torsional mode component peak value, the first-order bending mode component peak value and the crack length of the artificial crack.
Specifically, by combining the specific examples provided above, namely measuring artificial cracks with the surface depth of 4mm and different lengths of the pipeline, and obtaining the torsional mode component peak value corresponding to the artificial crack length through a guided wave mode decomposition methodT max1peak value of first-order bending mode componentF max1. And the resulting relationship is plotted, as shown in fig. 15. Further research shows that the peak value of the torsional mode component and the crack length are in a direct proportion increasing change relation, and the first-order bending mode component and the crack length are in an approximate secondary change relation.
then obtaining the crack depth of the steel plate by a data fitting methodH 1Peak value of torsional mode componentT max1peak value of first-order bending mode componentF max1Relationship with crack length:Formula (1);
In the formula (1) of the compound,The attenuation coefficient of the torsional guided wave is R, and the pipe diameter of the pipeline; x is the distance between the crack and the receiving transducer, and D is the spacing between the transducers.
Further, the torsional mode intensity coefficient in the fitting relation is obtainedk T And bending mode strength coefficientk F . Wherein, the torsional mode intensity coefficient can be obtained through a data fitting processand bending mode strength coefficient。
A set of (manual) crack examples is further provided herein. Specifically, providing a plurality of artificial cracks with crack lengths of 30mm and different depths of 1-8mm, and equally calculating and obtaining the torsion modal component peak value corresponding to the artificial crack depthT max1peak value of first-order bending mode componentF max1for specific results, reference is made to fig. 16. It can be seen that the torsional mode component peaksT max1peak value of first-order bending mode componentF max1And the linear relation with the crack depth is achieved.
Therefore, by combining the fitting relation, the torsional mode component peak value and the crack length are determined to be in a linear relation, the first-order bending mode component peak value and the crack length are determined to be in a quadratic function relation, and the torsional mode component peak value and the first-order bending mode component peak value are both in a proportional relation with the crack depth. For two-dimensional parameters of crack length and depth, the crack length is firstly obtained through torsional mode component peak valueLThe method comprises the steps of carrying out a first treatment on the surface of the Based on the first-order bending mode and crack lengthLThe crack depth was determined. Through the analysis process, the electromagnetic ultrasonic quantification method for the pipeline cracks establishes the functional relation between the crack length and the depth, the torsional mode and the first-order bending mode, and solves the technical problem of nonlinear complex mapping between the response signal peak value and the crack length and the depth in the prior art.
Further, based on the depth of the crack, isH 1Peak value of torsional mode componentT max1peak value of first-order bending mode componentF max1And deducing a relation between the crack length and torsional mode component peak value and first-order bending mode component peak value under any crack condition according to a proportional rule between the crack length, wherein the relation satisfies the following conditions:Formula (2);
further inverting the formula (2) to obtain a crack size quantization equation set, wherein the crack size quantization equation set satisfies:Formula (3).
therefore, the torsional mode component peak value of the detected crack can be deduced by combining the formulas (2) and (3)and first order bending mode component peak/>. Torsion of corresponding parameters to the attenuation coefficient of guided wave/>Crack-to-receiving transducer distance/>and transducer spacing/>Substituting into a quantized equation set, and calculating to obtain crack lengthL 0 27.44mm, a relative error of 8.53%; depth of crackH 04.31mm and a relative error of 7.75%.
The data comparison proves that the electromagnetic ultrasonic quantification method for the pipeline cracks and the electromagnetic ultrasonic torsion guided wave transducer can realize quantification deduction of crack length and depth.
the invention provides a pipeline crack electromagnetic ultrasonic quantification method and an electromagnetic ultrasonic torsion guided wave transducer, wherein the pipeline crack electromagnetic ultrasonic quantification method comprises the following steps: measuring a known depth of the surface of a pipeH 1Crack lengthLIs a crack; fitting the data to obtain a crack depth ofH 1the relation between the torsional mode component peak value, the first-order bending mode component peak value and the crack length; deducing a relational expression between the torsional mode component peak value and the first-order bending mode component peak value under any crack condition; and inverting to obtain a crack size quantization equation set. Compared with the prior art, the electromagnetic ultrasonic quantification method for the pipeline crack and the electromagnetic ultrasonic torsion guided wave transducer have at least the following beneficial effects:
(1) The electromagnetic ultrasonic torsion guided wave transducer provided by the invention can realize that torsion guided waves uniformly propagate in the whole circumferential direction of a pipeline; the circumferential uniformity and excitation efficiency of the torsional guided wave are further improved through optimizing key structural parameters of the transducer;
(2) According to the pipeline crack electromagnetic ultrasonic quantification method, the problem that analysis of the echo characteristics of defects is difficult to quantify under the conditions of high-frequency noise background and aliasing signals is solved through modal decomposition, the analysis difficulty of received signals is simplified, and a quantification equation set of crack size is obtained through a data fitting mode; the relation among the crack length and depth, bending mode and torsional mode peaks is searched, the accurate quantitative inversion of the crack size is realized based on electromagnetic ultrasonic mode signals by utilizing the intensity information of defect signals under different mode components, the technical problem of complex nonlinear correspondence between the original signal peaks and the two-dimensional parameters of the cracks in the prior art is solved, and a feasible operation scheme is provided for quantitative detection of the pipeline cracks.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1. the electromagnetic ultrasonic quantification method for the pipeline cracks is characterized by comprising the following steps of:
Measuring a known depth of the surface of a pipeH 1Crack lengthLIs a crack;
the torsional mode component peak value corresponding to the artificial crack is obtained through a guided wave mode decomposition methodT max1peak value of first-order bending mode componentF max1the method comprises the steps of carrying out a first treatment on the surface of the Drawing a relation curve between a torsional mode component peak value, a first-order bending mode component peak value and a crack length of the artificial crack;
Obtaining the crack depth as follows by a data fitting methodH 1In this case, the relation between the torsional mode component peak value, the first-order bending mode component peak value, and the crack length is as follows:Formula (1);
In the formula (1) of the compound,The attenuation coefficient of the torsional guided wave is R, and the pipe diameter of the pipeline; obtaining torsional mode intensity coefficient in fitting relationk T And bending mode strength coefficientk F ；
Based on crack depth ofH 1When the method is used, the relation between the torsional mode component peak value, the first-order bending mode component peak value and the torsional mode component peak value and the first-order bending mode component peak value under any crack condition is deduced according to the proportional rule between the torsional mode component peak value, the first-order bending mode component peak value and the crack length, and the method meets the following conditions:Formula (2);
further inverting the formula (2) to obtain a crack size quantization equation set, wherein the crack size quantization equation set satisfies:formula (3);
detecting cracks of any unknown size; obtaining torsional mode component peak values corresponding to cracks with unknown sizes through a guided wave mode decomposition methodT max0 peak value of first-order bending mode componentF max0 Substituting the crack length into the quantized equation set of the formula (3) to calculate the crack length of the unknown-size crackL 0 Depth of crackH 0。
2. An electromagnetic ultrasonic torsional guided wave transducer for implementing the pipeline crack electromagnetic ultrasonic quantification method according to claim 1, wherein the electromagnetic ultrasonic torsional guided wave transducer comprises a plurality of annular uniformly arranged transducer arrays; the transducer array consists of a permanent magnet and a runway coil; wherein, each runway coil is arranged with two permanent magnets;
The NS magnetic pole directions of the permanent magnets are consistent with the radial direction of the pipeline to be measured, and the NS magnetic pole directions of the adjacent permanent magnets arranged in the same row are opposite; the length direction of the runway coil is placed along the axial direction of the pipeline to be measured.
3. The electromagnetic ultrasonic torsional guided wave transducer according to claim 2, wherein an excitation transducer S is further provided in the electromagnetic ultrasonic torsional guided wave transducer1and a receiving transducer S2；
Wherein the transducer S is excited1The excitation signal is a three-period pulse sine signal modulated by a hanning window; after the excitation signal is loaded to the runway coils, the current flowing directions in the runway coils are consistent.
4. The electromagnetic ultrasonic torsional guided wave transducer of claim 2, wherein the torsional guided wave excited by the electromagnetic ultrasonic torsional guided wave transducer is a T (0, 1) mode guided wave with a frequency of less than 100kHz;
the number of transducer arrays contained in the electromagnetic ultrasonic torsional guided wave transducernand the length of the permanent magnet is equal to or more than 6 and is half of the wavelength of the torsional guided wave.
5. The electromagnetic ultrasonic torsional guided wave transducer of claim 2, wherein the permanent magnet is made of neodymium iron boron material, the magnetic flux density is more than 0.6T, and the height is 20-25 mm; the number of permanent magnets arranged in the same row in the circumferential direction is more than 24, and the distance between adjacent permanent magnets is less than 2mm;
the runway coil is formed by winding copper enameled wires, the wire diameter of the runway coil is between 0.1 and 0.5mm, the size of a straight wire part of the runway coil is consistent with that of the permanent magnet, and the lifting distance of the runway coil is not more than 2mm.
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