CN109378918A - A kind of double permanent magnetism vernier motors of DC bias current type rotor - Google Patents
A kind of double permanent magnetism vernier motors of DC bias current type rotor Download PDFInfo
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- CN109378918A CN109378918A CN201811474314.XA CN201811474314A CN109378918A CN 109378918 A CN109378918 A CN 109378918A CN 201811474314 A CN201811474314 A CN 201811474314A CN 109378918 A CN109378918 A CN 109378918A
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- Prior art keywords
- stator
- tooth
- rotor
- permanent magnet
- bias current
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
- H02K3/18—Windings for salient poles
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/14—Stator cores with salient poles
- H02K1/146—Stator cores with salient poles consisting of a generally annular yoke with salient poles
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/17—Stator cores with permanent magnets
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
- H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
- H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
- H02K1/2753—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets the rotor consisting of magnets or groups of magnets arranged with alternating polarity
- H02K1/278—Surface mounted magnets; Inset magnets
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Permanent Magnet Type Synchronous Machine (AREA)
- Permanent Field Magnets Of Synchronous Machinery (AREA)
Abstract
The invention discloses a kind of double permanent magnetism vernier motors of DC bias current type rotor, stator winding of the invention uses the structure of fractional-slot non-overlap concentratred winding, has the advantages that end is short, non-overlapping, high reliablity；This motor topology has excavated the space of motor cavity sufficiently to place permanent magnet, and enhancing excitation field is to improve torque density；In addition, using DC bias current that can preferably promote motor power factor with the distribution of flexible modulation magnetic loading and electric load, further realize the promotion of torque capacity.The recombination current containing DC component and AC compounent is passed through in stator winding of the invention, which can preferably promote motor power factor with the distribution of flexible modulation magnetic loading and electric load, have biggish application prospect.
Description
Technical field
The invention belongs to motor fields, and in particular to a kind of double permanent magnetism vernier motors of DC bias current type rotor.
Background technique
The torque density for improving motor, can not only save the heavy metal resources such as a large amount of copper, iron, moreover it is possible to reduce motor volume.
For mostly electricity/electric aircraft and the applications such as naval vessel propulsion and direct-drive wind power generation, have great importance.
Vernier magneto based on magnetic field modulation principle, the torque density with superelevation, receives a large amount of concern.For
The torque density of motor is further increased, it is general using increasing permanent magnet dosage or improving the ultimate ratio of motor, inevitably
Reduce other performances (cost, power factor etc.) of motor.In addition, existing vernier magneto is used substantially with routine forever
The similar sinusoidal current driving of magneto.
Summary of the invention
The purpose of the present invention is to overcome the above shortcomings and to provide a kind of double permanent magnetism vernier electricity of DC bias current type rotor
The torque output of vernier motor can be improved by using DC bias current for machine, and DC bias current can be adjusted flexibly
The distribution for saving magnetic loading and electric load, is conducive to increase power factor.
In order to achieve the above object, the present invention includes rotor, is arranged with stator outside rotor, has gas between rotor and stator
Gap；
Stator includes stator core, stator winding and stator permanent magnet, and stator core includes stator yoke and adjacent bonds
The different stator of structure modulates tooth, in the centre that the stator of the wider band of tooth footpath boots with teeth modulates tooth inserted with stator permanent magnet, determines
Sub- winding is wrapped on stator modulation tooth using the structure of fractional-slot non-overlap concentratred winding；
The recombination current that stator winding is passed through is divided into two parts, and a part is by the AC compounent of three-phase symmetrical and positive straight
Flow component is combined；Another part is combined by the AC compounent and negative DC component of three-phase symmetrical.
The recombination current that stator winding is passed through is according to iA+、iB-、iC+、iA-、iB+、iC-、iA+Sequence be successively passed through stator around
Group, expression formula are as follows:
Wherein, IacFor the virtual value of AC compounent, IdcFor DC component average value, weFor electric angle frequency, а is initial phase angle.
Stator includes two kinds of stator modulation tooth, the first is the canine tooth with tooth boots, is fixed on the flank of tooth of canine tooth
There is stator permanent magnet, canine tooth is divided into two modulation teeth by stator permanent magnet, and another kind is parallel teeth, and the tooth footpath width of parallel teeth is small
In canine tooth, two kinds of modulation tooth is arranged alternately.
Stator permanent magnet is fixed on the canine tooth flank of tooth using the same polar mode of magnetization.
Rotor includes rotor core and rotor permanent magnet, and rotor core uses salient-pole structure, rotor core circumferentially surface
Several rotor slots are uniformly opened up, inserted with same polarity permanent magnet in rotor slot.
The number N of stator modulation toothsAnd the number N of rotor modulation toothrMeet following relationship:
Pa=| Nr±Pdc|=| Nr±Pspm|=| Ns±Prpm|
Wherein, PaFor the magnetomotive number of pole-pairs of fundamental wave that the AC compounent of stator winding current generates, PdcFor winding current
DC component generate the magnetomotive number of pole-pairs of fundamental wave, PspmFor stator permanent magnet fundamental wave number of pole-pairs, PrpmFor rotor permanent magnet
Fundamental wave number of pole-pairs.
The electromagnetic torque expression formula of motor are as follows:
Tem=Nr(ψpms+ψpmr+ψdc)Iq=NrψpmsIac+NrψpmrIac+NrIdcLmIac
Wherein NrFor rotor Wehnelt electrode number of pole-pairs, ψpmsFor the magnetic linkage that stator permanent magnet generates, ψpmrFor PM rotor production
Raw magnetic linkage, IqThe q axis component under d-q axial coordinate, I are transformed to for AC compounentdcFor the virtual value of DC component, IacFor exchange
The virtual value of component, LmTo transform to the magnetizing inductance under d-q axial coordinate.
Compared with prior art, stator winding of the invention uses the structure of fractional-slot non-overlap concentratred winding, has end
The advantages of portion is short, non-overlapping, high reliablity；This motor topology has excavated the space of motor cavity sufficiently to place permanent magnet, increases
Magnet excitation magnetic field is to improve torque density；In addition, using DC bias current can be with flexible modulation magnetic loading and electric load
Distribution, can preferably promote motor power factor, further realize the promotion of torque capacity.It is passed through in stator winding of the invention
Recombination current containing DC component and AC compounent, the DC bias current can be with points of flexible modulation magnetic loading and electric load
Match, can preferably promote motor power factor, there is biggish application prospect.The present invention is generated using the permanent magnet on rotor
Magnetic field increase the magnetic loading in air gap, thus to improve the output of the average torque of motor；It can also using DC bias current
The distribution of the magnetic loading and electric load of flexible modulation motor, has the function that increase power factor.
Further, stator of the invention and rotor use the design of dual permanent-magnet, and the excitation field of motor can be improved,
Motor output torque can be further increased, the more efficient utilization of motor is reached.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the partial schematic diagram of stator in the present invention；
Wherein, 1, rotor；2, air gap；3, stator；4, stator core；5, stator winding；6, stator permanent magnet；7, customization is adjusted
Tooth processed；3-1, canine tooth；3-2, modulation tooth；3-3, parallel teeth.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing.
Referring to Fig. 1, the present invention includes rotor 1, is arranged with stator 3 outside rotor 1, has air gap 2 between rotor 1 and stator 3；
Rotor 1 includes rotor core and rotor permanent magnet, and rotor core uses salient-pole structure, rotor core circumferentially surface
Several rotor slots are uniformly opened up, inserted with same polarity permanent magnet in rotor slot.
Stator 3 includes stator core 4, stator winding 5 and stator permanent magnet 6, and stator core 4 includes stator yoke and phase
The different stator of adjacent structure modulates tooth 7, modulates the centre of tooth 7 inserted with stator permanent magnet in the stator of the wider band of tooth footpath boots with teeth
Body 6, stator modulation tooth can not only place coil, while produce to the magnetic field of permanent magnet and current dc component of rotor generation
Raw stationary magnetic field plays the role of modulation, and stator winding 5 is wrapped in stator using the structure of fractional-slot non-overlap concentratred winding
Modulate tooth 7 on, coil can be allowed to be fitted around around each modulation tooth, this mounting means with end it is short, it is non-overlapping, can
The advantage high by property, stator permanent magnet 6 are fixed on the canine tooth 3-1 flank of tooth using the same polar mode of magnetization；
The recombination current that stator winding 5 is passed through is divided into two parts, and a part is by the AC compounent of three-phase symmetrical and positive
DC component is combined；Another part is combined by the AC compounent and negative DC component of three-phase symmetrical.
The recombination current that stator winding 5 is passed through is according to iA+、iB-、iC+、iA-、iB+、iC-、iA+Sequence be successively passed through stator around
Group, expression formula are as follows:
Wherein, IacFor the virtual value of AC compounent, IdcFor DC component average value, weFor electric angle frequency, а is initial phase angle.
Referring to fig. 2, stator 3 includes that two kinds of stator modulates tooth 7, the first is the canine tooth 3-1 with tooth boots, canine tooth
Stator permanent magnet 6 is fixed on the flank of tooth of 3-1, canine tooth 3-1 is divided into two modulation tooth 3-2 by stator permanent magnet 6, and the magnetic line of force can
It gets around the biggish permanent magnet of magnetic resistance to circulate by two small modulation tooth, the inner cavity of stator core can be made full use of in this way；Separately
One kind is parallel teeth 3-3, and the tooth footpath of parallel teeth 3-3 is wide to be less than canine tooth 3-1, and two kinds of modulation tooth is arranged alternately.
In order to preferably explain the number of pole-pairs relationship of this motor, 1 pair of number of pole-pairs relationship of the present invention is carried out with reference to the accompanying drawing
Illustrate, stator modulates the permanent magnet placed in the big tooth socket in tooth with level-one, then stator permanent magnet number of pole-pairs PspmIt is 6, and turns
Sub- permanent magnet pole logarithm PrpmIt is 10, stator modulates tooth (Wehnelt electrode) NsNumber be 18, rotor modulate tooth (Wehnelt electrode) NrNumber
It is 10, then the magnetomotive number of pole-pairs of fundamental wave that the DC component through the rotor modulation modulated winding current of tooth generates is PdcIt is 6,
AC compounent in winding current generates the magnetomotive number of pole-pairs P of fundamental waveaIt is 4, stator modulates the number N of toothsAnd rotor modulates tooth
Number NrMeet following relationship:
Pa=| Nr±Pdc|=| Nr±Pspm|=| Ns±Prpm|
Wherein, PaFor the magnetomotive number of pole-pairs of fundamental wave that the AC compounent of stator winding current generates, PdcFor winding current
DC component generate the magnetomotive number of pole-pairs of fundamental wave, PspmFor stator permanent magnet fundamental wave number of pole-pairs, PrpmFor rotor permanent magnet
Fundamental wave number of pole-pairs.
The electromagnetic torque expression formula of motor of the present invention are as follows:
Tem=Nr(ψpms+ψpmr+ψdc)Iq=NrψpmsIac+NrψpmrIac+NrIdcLmIac
Wherein Nr is rotor Wehnelt electrode number of pole-pairs, ψpmsFor the magnetic linkage that stator permanent magnet generates, ψpmrFor PM rotor production
Raw magnetic linkage, IqThe q axis component under d-q axial coordinate is transformed to for AC compounent, Idc is the virtual value of DC component, and Iac is to hand over
The virtual value of flow component, LmTo transform to the magnetizing inductance under d-q axial coordinate.
There are multiple magnetic sources for air-gap field of the invention: wherein motor excitation magnetic field includes three parts: (1) direct current point
Amount modulates generated electricity excitation magnetic field by rotor Wehnelt electrode；(2) stator permanent magnet magnetic potential is produced by the modulation of rotor Wehnelt electrode
Raw stator permanent magnet excitation field；(3) rotor permanent magnet magnetic potential modulates generated rotor permanent magnet excitation magnetic by stator Wehnelt electrode
?.The strong and weak of excitation field can be adjusted by adjusting the size of the DC component in winding current.Friendship in winding current
Flow component generates electrical rotating excitation field, and the electrical rotating excitation field and motor excitation magnetic field interaction generate constant torque.It is more
The degree of coupling in a magnetic field is stronger, can significantly increase magnetic flux density, effectively increase torque output.
The present invention can be realized most by adjusting the configuration (i.e. the proportion of DC component and AC compounent) of winding current
The control of big torque and highest power factor.
Claims (7)
1. a kind of double permanent magnetism vernier motors of DC bias current type rotor, which is characterized in that including rotor (1), rotor (1) is outside
It is arranged with stator (3), there are air gap (2) between rotor (1) and stator (3)；
Stator (3) includes stator core (4), stator winding (5) and stator permanent magnet (6), and stator core (4) includes stator yoke
And stator modulation tooth (7) that adjacent structure is different, in the intermediate insertion of stator modulation tooth (7) of the wider band of tooth footpath boots with teeth
Have stator permanent magnet (6), stator winding (5) is wrapped in stator modulation tooth (7) using the structure of fractional-slot non-overlap concentratred winding
On；
The recombination current that stator winding (5) is passed through is divided into two parts, and a part is by the AC compounent of three-phase symmetrical and positive straight
Flow component is combined；Another part is combined by the AC compounent and negative DC component of three-phase symmetrical.
2. a kind of double permanent magnetism vernier motors of DC bias current type rotor according to claim 1, which is characterized in that fixed
The recombination current that sub- winding (5) is passed through is according to iA+、iB-、iC+、iA-、iB+、iC-、iA+Sequence be successively passed through stator winding, expression formula
Are as follows:
Wherein, IacFor the virtual value of AC compounent, IdcFor DC component average value, weFor electric angle frequency, а is initial phase angle.
3. a kind of double permanent magnetism vernier motors of DC bias current type rotor according to claim 1, which is characterized in that fixed
Sub (3) include two kinds of stator modulation tooth (7), the first is the canine tooth (3-1) with tooth boots, the flank of tooth of canine tooth (3-1)
On be fixed with stator permanent magnet (6), canine tooth (3-1) is divided into two modulation teeth (3-2) by stator permanent magnet (6), and another kind is
Parallel teeth (3-3), the tooth footpath of parallel teeth (3-3) is wide to be less than canine tooth (3-1), and two kinds of modulation tooth is arranged alternately.
4. a kind of double permanent magnetism vernier motors of DC bias current type rotor according to claim 3, which is characterized in that fixed
Sub- permanent magnet (6) is fixed on canine tooth (3-1) flank of tooth using the same polar mode of magnetization.
5. a kind of double permanent magnetism vernier motors of DC bias current type rotor according to claim 1, which is characterized in that turn
Sub (1) includes rotor core and rotor permanent magnet, and rotor core uses salient-pole structure, and circumferentially surface uniformly opens up rotor core
Several rotor slots, inserted with same polarity permanent magnet in rotor slot.
6. a kind of double permanent magnetism vernier motors of DC bias current type rotor according to claim 1, which is characterized in that fixed
The number N of son modulation tooth (7)sAnd the number N of rotor modulation toothrMeet following relationship:
Pa=| Nr±Pdc|=| Nr±Pspm|=| Ns±Prpm|
Wherein, PaFor the magnetomotive number of pole-pairs of fundamental wave that the AC compounent of stator winding current generates, PdcFor the straight of winding current
The magnetomotive number of pole-pairs of fundamental wave that flow component generates, PspmFor stator permanent magnet fundamental wave number of pole-pairs, PrpmFor rotor permanent magnet fundamental wave
Number of pole-pairs.
7. a kind of double permanent magnetism vernier motors of DC bias current type rotor according to claim 1, which is characterized in that electricity
The electromagnetic torque expression formula of machine are as follows:
Tem=Nr(ψpms+ψpmr+ψdc)Iq=NrψpmsIac+NrψpmrIac+NrIdcLmIac
Wherein Nr is rotor Wehnelt electrode number of pole-pairs, ψpmsFor the magnetic linkage that stator permanent magnet generates, ψpmrIt is generated for PM rotor
Magnetic linkage, IqThe q axis component under d-q axial coordinate, I are transformed to for AC compounentdcFor the virtual value of DC component, IacFor AC compounent
Virtual value, LmTo transform to the magnetizing inductance under d-q axial coordinate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811474314.XA CN109378918A (en) | 2018-12-04 | 2018-12-04 | A kind of double permanent magnetism vernier motors of DC bias current type rotor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811474314.XA CN109378918A (en) | 2018-12-04 | 2018-12-04 | A kind of double permanent magnetism vernier motors of DC bias current type rotor |
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| Publication Number | Publication Date |
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| CN109378918A true CN109378918A (en) | 2019-02-22 |
Family
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| CN201811474314.XA Pending CN109378918A (en) | 2018-12-04 | 2018-12-04 | A kind of double permanent magnetism vernier motors of DC bias current type rotor |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110048569A (en) * | 2019-04-10 | 2019-07-23 | 蚁人(苏州)机械科技有限公司 | The stator non iron-core servo motor of robot bilayer halbach array |
| CN110112879A (en) * | 2019-04-30 | 2019-08-09 | 华中科技大学 | A kind of two-sided permanent magnet type synchronous motor |
| CN110460182A (en) * | 2019-05-28 | 2019-11-15 | 东南大学 | Modularization permanent-magnetism based on alternately pole is compound from speed-down servo motor |
| CN110601461A (en) * | 2019-09-20 | 2019-12-20 | 哈尔滨工业大学（深圳） | Tooth space torque optimization method for non-uniform tooth permanent magnet vernier motor design |
| CN110676985A (en) * | 2019-09-20 | 2020-01-10 | 哈尔滨工业大学（深圳） | Design method of non-uniform tooth permanent magnet vernier motor |
| CN110880820A (en) * | 2019-11-29 | 2020-03-13 | 西安交通大学 | Two-phase direct current bias current vernier reluctance motor |
| CN110880821A (en) * | 2019-11-29 | 2020-03-13 | 西安交通大学 | Rotor permanent magnet vernier motor with hybrid excitation |
| CN111245187A (en) * | 2020-02-27 | 2020-06-05 | 南京航空航天大学 | Annular winding dual-rotor flux reversal motor |
| CN112531931A (en) * | 2020-11-09 | 2021-03-19 | 华中科技大学 | Vernier permanent magnet motor with stator provided with coding type auxiliary teeth |
| WO2021120397A1 (en) * | 2019-12-17 | 2021-06-24 | 西安交通大学 | Single-air-gap reluctance motor structure having stator armature windings and rotor armature windings and providing multiple electromagnetic torque components |
| CN114172335A (en) * | 2021-11-30 | 2022-03-11 | 中山大学 | Stator-partition hybrid excitation stator-rotor dual-permanent-magnet vernier motor |
| CN115632534A (en) * | 2022-12-08 | 2023-01-20 | 东南大学 | Direct-drive type bilateral permanent magnet excitation type magnetic field modulation motor |
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| CN106787562A (en) * | 2017-01-24 | 2017-05-31 | 东南大学 | Alternately pole, mixed excitation directly drives vernier motor |
| CN107070150A (en) * | 2016-09-14 | 2017-08-18 | 华中科技大学 | A kind of concentratred winding direct current biasing type hybrid excitation permanent magnet motor |
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| CN103066719A (en) * | 2012-12-14 | 2013-04-24 | 江苏大学 | Magnetic gathering type stator permanent magnetic type vernier motor |
| CN106712332A (en) * | 2015-08-04 | 2017-05-24 | 香港理工大学 | Wide-speed variable-speed motor with excitation direct-control alternating current-direct current shaft self decoupling |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110048569A (en) * | 2019-04-10 | 2019-07-23 | 蚁人(苏州)机械科技有限公司 | The stator non iron-core servo motor of robot bilayer halbach array |
| CN110112879A (en) * | 2019-04-30 | 2019-08-09 | 华中科技大学 | A kind of two-sided permanent magnet type synchronous motor |
| CN110460182A (en) * | 2019-05-28 | 2019-11-15 | 东南大学 | Modularization permanent-magnetism based on alternately pole is compound from speed-down servo motor |
| CN110601461A (en) * | 2019-09-20 | 2019-12-20 | 哈尔滨工业大学（深圳） | Tooth space torque optimization method for non-uniform tooth permanent magnet vernier motor design |
| CN110676985A (en) * | 2019-09-20 | 2020-01-10 | 哈尔滨工业大学（深圳） | Design method of non-uniform tooth permanent magnet vernier motor |
| CN110880820A (en) * | 2019-11-29 | 2020-03-13 | 西安交通大学 | Two-phase direct current bias current vernier reluctance motor |
| CN110880821A (en) * | 2019-11-29 | 2020-03-13 | 西安交通大学 | Rotor permanent magnet vernier motor with hybrid excitation |
| WO2021120397A1 (en) * | 2019-12-17 | 2021-06-24 | 西安交通大学 | Single-air-gap reluctance motor structure having stator armature windings and rotor armature windings and providing multiple electromagnetic torque components |
| CN111245187A (en) * | 2020-02-27 | 2020-06-05 | 南京航空航天大学 | Annular winding dual-rotor flux reversal motor |
| CN112531931A (en) * | 2020-11-09 | 2021-03-19 | 华中科技大学 | Vernier permanent magnet motor with stator provided with coding type auxiliary teeth |
| WO2022095282A1 (en) * | 2020-11-09 | 2022-05-12 | 华中科技大学 | Vernier permanent magnet electric motor with stator provided with coding type auxiliary teeth |
| US20230336039A1 (en) * | 2020-11-09 | 2023-10-19 | Huazhong University Of Science And Technology | Vernier permanent magnet motor with stator having coded auxiliary teeth |
| US11990793B2 (en) | 2020-11-09 | 2024-05-21 | Huazhong University Of Science And Technology | Vernier permanent magnet motor with stator having coded auxiliary teeth |
| CN114172335A (en) * | 2021-11-30 | 2022-03-11 | 中山大学 | Stator-partition hybrid excitation stator-rotor dual-permanent-magnet vernier motor |
| CN114172335B (en) * | 2021-11-30 | 2024-04-16 | 中山大学 | Stator-partitioned hybrid excitation stator-rotor double permanent magnet vernier motor |
| CN115632534A (en) * | 2022-12-08 | 2023-01-20 | 东南大学 | Direct-drive type bilateral permanent magnet excitation type magnetic field modulation motor |
| CN115632534B (en) * | 2022-12-08 | 2023-03-07 | 东南大学 | Direct-drive type bilateral permanent magnet excitation type magnetic field modulation motor |
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