CN113452230B - High-thrust-density electromagnetic actuator for nano-satellite deployer - Google Patents

Abstract

The invention provides a high thrust density electromagnetic actuator for a nano-satellite deployer, which mainly comprises a stator and a rotor, wherein the stator mainly comprises: the stator comprises a stator frame, a magnet yoke, a magnet ring and a lock nut; the active cell mainly includes: coil skeleton and coil. According to the invention, the upper and lower double-permanent-magnet branch magnetic fluxes are formed on the single-layer magnetic pole, so that the magnetic saturation of the magnetic yoke is effectively relieved by shunting the permanent-magnet magnetic fluxes, the thickness of the magnetic yoke is reduced, and the axial size and the volume quality of the actuator are reduced due to the single-layer coil configuration of the single-layer magnetic pole; the double permanent magnet branch loop improves the distribution of an air gap magnetic field, reduces thrust fluctuation and increases thrust density. The invention has the characteristics of small volume, light weight, high thrust density and stable thrust, and is very suitable for the deployer to carry out on-orbit speed regulation and release on the nano-satellite.

Description

A high thrust density electromagnetic actuator for nanosatellite deployer

technical field

The invention relates to a high thrust density electromagnetic actuator for a nano-satellite deployer, belonging to the technical field of aerospace.

Background technique

The coordinated work of multiple satellites to complete complex space exploration missions has become a research hotspot in the international aerospace field, such as formations and clusters. In particular, nanosatellites have the advantages of short development cycle and low cost, and the clusters formed by them have high flexibility and robustness, and can complete tasks that large satellites cannot complete independently or require high costs. For on-orbit deployment of nanosatellites, in order to save costs, deployers are often used to store and release a large number of nanosatellites in orbit in one launch mission. Since nanosatellites have weak orbit control capability and limited fuel, it is expected that the speed, timing and angle of the ejection nanosatellites can be adjusted to make them naturally form a stable relative motion to each other when ejecting and separating these nanosatellites. This requires the on-orbit deployer to realize the speed-regulated release of nano-satellites of different masses at a specific moment. However, traditional deployers mostly use compression springs, which are difficult to achieve repeatable and precise release of nanosatellites.

The electromagnetic actuator uses an electrified coil to generate electromagnetic force in a magnetic field, and has a fast response speed, which is very suitable for the deployer to repeatedly adjust the speed to release nanosatellites. In industrial applications, in order to improve the thrust density of electromagnetic actuators, halbach permanent magnet arrays and their topological structures are often used, or the shape of the magnetic steel and the magnetization direction of the magnetic steel are changed. way to increase the air-gap magnetic field strength to achieve high thrust density. For aerospace applications, electromagnetic actuators are often expected to be small and lightweight in order to facilitate installation and reduce launch costs.

SUMMARY OF THE INVENTION

In order to solve the technical problem mentioned in the above background technology that the electromagnetic actuator is expected to be small in size and light in weight, the present invention proposes a high thrust density electromagnetic actuator for a nanosatellite deployer. Compared with the traditional electromagnetic actuator, the The single-layer magnetic pole realizes the shunt of double permanent magnet branches, thereby alleviating the magnetic saturation of the yoke, and has the advantages of small size, light weight and high thrust density.

The invention proposes a high thrust density electromagnetic actuator for a nano-satellite deployer, which includes a stator and a mover, and the stator includes a stator frame, an outer magnetic yoke, an outer magnetic ring, an outer upper magnetic ring, an outer lower magnetic ring, and an outer upper magnetic yoke , outer lock nut, inner magnetic yoke, inner magnetic ring, inner upper magnetic ring, inner lower magnetic ring, inner upper magnetic yoke, inner lock nut and end magnetic yoke; the mover includes coil bobbin and toroidal coil;

The outer magnetic yoke is located at the radial inner side of the outer wall of the stator frame groove, the outer magnetic ring is located at the radial inner center position of the outer magnetic yoke, and the outer upper magnetic ring is located at the upper end of the outer magnetic yoke and the outer magnetic ring, so The outer lower magnetic ring is located at the lower end of the outer magnetic yoke and the outer magnetic ring, the outer upper magnetic yoke is located at the upper end of the outer upper magnetic ring, the outer lock nut is located at the upper end of the outer upper magnetic yoke, and the inner magnetic yoke is located at the stator. The radial outer side of the inner wall of the frame groove, the inner magnetic ring is located on the radial outer side of the inner magnetic yoke, the inner upper magnetic ring is located at the upper end of the inner magnetic yoke and the inner magnetic ring, and the inner lower magnetic ring is located in the inner magnetic yoke and the lower end of the inner magnetic ring, the inner upper magnetic yoke is located at the upper end of the inner upper magnetic ring, the inner lock nut is located at the upper end of the inner upper magnetic yoke, and the end magnetic yoke is located at the outer lower magnetic ring and the inner lower magnetic ring The lower end of the outer magnetic yoke, the outer magnetic ring, the outer upper magnetic ring, the outer lower magnetic ring and the outer upper magnetic yoke are fixedly installed on the stator frame through the thread between the outer lock nut and the stator frame, and the inner magnetic yoke , The inner magnetic ring, the inner upper magnetic ring, the inner lower magnetic ring, the inner upper magnetic yoke and the end magnetic yoke are fixedly installed in the annular groove of the stator frame through the thread between the inner lock nut and the stator frame, and the outer magnetic yoke , outer magnetic ring, outer upper magnetic ring, outer lower magnetic ring, outer upper magnetic yoke, radial inner wall and inner magnetic yoke of outer lock nut, inner magnetic ring, inner upper magnetic ring, inner lower magnetic ring, inner upper magnetic yoke , An air gap is formed between the radial outer walls of the inner lock nut, and the coil bobbin is located on the radial inner side of the outer magnetic yoke, the outer magnetic ring, the outer upper magnetic ring, the outer lower magnetic ring, the outer upper magnetic yoke and the outer lock nut, The toroidal coil surrounds and is fixed in the slot of the coil bobbin.

Preferably, the outer magnetic ring, the outer upper magnetic ring, the outer lower magnetic ring, the inner magnetic ring, the inner upper magnetic ring and the inner lower magnetic ring are made of cobalt alloy hard magnetic material, wherein the outer magnetic ring and the inner magnetic ring are Radial magnetization, outer upper magnetic ring, outer lower magnetic ring, inner upper magnetic ring and inner lower magnetic ring are axially magnetized, and the direction of magnetization is outer magnetic ring outer S inner N, outer upper magnetic ring upper S lower N , N on the outer and lower magnetic rings, S on the outside of the inner magnetic ring, N on the inner magnetic ring, N on the inner and upper magnetic rings, and S on the inner and lower magnetic rings; The upper magnetic ring is up N and S is lower, the outer lower magnetic ring is upper S and N is lower, the inner magnetic ring is outer N and inner S, the inner upper magnetic ring is upper S and N is lower, and the inner and lower magnetic ring is N upper and S lower.

Preferably, the outer yoke, the outer upper yoke, the inner yoke, the inner upper yoke and the end yoke are made of soft magnetic alloy 1J50 material.

Preferably, the width of the outer upper magnetic ring, the outer lower magnetic ring and the outer upper magnetic yoke is the sum of the thicknesses of the outer magnetic yoke and the outer magnetic ring, and the width of the inner upper magnetic ring, the inner lower magnetic ring and the inner upper magnetic yoke is the sum of the thicknesses of the inner yoke and the inner magnetic ring.

The beneficial effects of the high thrust density electromagnetic actuator for the nanosatellite deployer of the present invention are:

1. The present invention forms the upper and lower double permanent magnetic branch magnetic circuits on the single-layer magnetic pole structure, realizes the permanent magnetic flux shunting, thereby effectively alleviating the magnetic saturation of the magnetic yoke, reducing the thickness of the magnetic yoke and the electromagnetic actuator. volume quality.

2. Compared with the traditional double-sided double-pole configuration, the double-sided single-layer magnetic pole configuration of the present invention effectively reduces the axial and radial dimensions of the electromagnetic actuator.

3. The magnetic flux of the upper permanent magnet branch circuit and the lower permanent magnet branch circuit of the present invention act on the upper and lower regions of the air gap respectively, and the magnetic field distribution is uniform. Compared with the traditional electromagnetic actuator, its output is more stable and effectively restrains the thrust fluctuations.

4. To sum up, the advantages of the present invention are that the volume mass of the electromagnetic actuator is reduced and the thrust density is increased.

Description of drawings

The accompanying drawings constituting a part of the present application are used to provide further understanding of the present invention, and the exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention.

In the attached image:

1 is a radial cross-sectional view of the electromagnetic actuator of the nanosatellite deployer of the present invention with a high thrust density electromagnetic actuator;

2 is a sectional view of the stator of the electromagnetic actuator of the nanosatellite deployer of the present invention with a high thrust density electromagnetic actuator;

3 is a three-dimensional schematic diagram of the mover of the electromagnetic actuator of the high thrust density electromagnetic actuator for the nanosatellite deployer according to the present invention

4 is a schematic diagram of a double permanent magnet branch circuit of an electromagnetic actuator of a high thrust density electromagnetic actuator for a nanosatellite deployer according to the present invention;

Fig. 5 is the magnetic field line simulation diagram of the left part of the electromagnetic actuator of the electromagnetic actuator of high thrust density for nanosatellite deployer of the present invention;

Among them, 1-stator frame, 2-outer magnetic yoke, 3-outer magnetic ring, 4A-outer upper magnetic ring, 4B-outer lower magnetic ring, 5-outer upper magnetic yoke, 6-outer lock nut, 7-inner magnetic Yoke, 8-inner magnetic ring, 9A-inner upper magnetic ring, 9B-inner lower magnetic ring, 10-inner upper magnetic ring, 11-inner lock nut, 12-end yoke, 13-coil bobbin, 14-ring coil.

Detailed ways

The specific embodiments of the present invention will be described in further detail below in conjunction with the accompanying drawings:

Embodiment 1: This embodiment is described with reference to FIGS. 1-5 .

1 is a radial cross-sectional view of the electromagnetic actuator of the technical solution of the present invention, which is mainly composed of a stator and a mover. It is characterized in that, the stator mainly includes: a stator frame 1, an outer magnetic yoke 2, an outer magnetic ring 3, an outer upper Magnetic ring 4A, outer lower magnetic ring 4B, outer upper magnetic yoke 5, outer lock nut 6, inner magnetic yoke 7, inner magnetic ring 8, inner upper magnetic ring 9A, inner lower magnetic ring 9B, inner upper magnetic yoke 10, inner The lock nut 11 and the end magnetic yoke 12; the mover mainly includes: the coil bobbin 13 and the annular coil 14; the outer magnetic yoke 2 is located on the radial inner side of the outer wall of the groove of the stator frame 1, and the outer magnetic ring 3 is located in the outer magnetic The radial inner center position of the yoke 2, the outer upper magnetic ring 4A is located at the axial upper end of the outer magnetic yoke 2 and the outer magnetic ring 3, and the outer lower magnetic ring 4B is located at the axis of the outer magnetic yoke 2 and the outer magnetic ring 3 Downward, the outer upper magnetic yoke 5 is located at the axial upper end of the outer upper magnetic ring 4A, the outer lock nut 6 is located at the axial upper end of the outer upper magnetic yoke 5, and the inner magnetic yoke 7 is located in the groove of the stator frame 1 On the radial outer side of the inner wall, the inner magnetic ring 8 is located on the radial outer side of the inner magnetic yoke 7, the inner upper magnetic ring 9A is located at the axial upper end of the inner magnetic yoke 7 and the inner magnetic ring 8, and the inner lower magnetic ring 9B is located at the axial upper end of the inner magnetic yoke 7 and the inner magnetic ring 8. The axial lower ends of the inner magnetic yoke 7 and the inner magnetic ring 8, the inner upper magnetic yoke 10 is located at the axial upper end of the inner upper magnetic ring 9A, and the inner lock nut 11 is located at the axial upper end of the inner upper magnetic yoke 10, so The end yoke 12 is located at the axial lower end of the outer lower magnetic ring 4B and the inner lower magnetic ring 9B. The outer magnetic yoke 2, the outer magnetic ring 3, the outer upper magnetic ring 4A, the outer lower magnetic ring 4B and the outer upper magnetic ring The yoke 5 is fixedly installed on the stator frame 1 through the thread between the outer lock nut 6 and the stator frame 1, the inner magnetic yoke 7, the inner magnetic ring 8, the inner upper magnetic ring 9A, the inner lower magnetic ring 9B, the inner upper magnetic ring The yoke 10 and the end magnetic yoke 12 are fixedly installed in the annular groove of the stator frame 1 through the thread between the inner lock nut 11 and the stator frame 1. The outer magnetic yoke 2, the outer magnetic ring 3, the outer upper magnetic ring 4A, The outer lower magnetic ring 4B, the outer upper magnetic yoke 5, the radial inner wall of the outer lock nut 6 and the inner magnetic yoke 7, the inner magnetic ring 8, the inner upper magnetic ring 9A, the inner lower magnetic ring 9B, the inner upper magnetic yoke 10, the inner An air gap is formed between the radial outer walls of the lock nut 11, and the coil bobbin 13 is located on the outer magnetic yoke 2, the outer magnetic ring 3, the outer upper magnetic ring 4A, the outer lower magnetic ring 4B, the outer upper magnetic yoke 5 and the outer lock nut 6 , the annular coil 14 surrounds and is fixed in the slot of the coil bobbin 13 .

2 is a sectional view of the stator of the electromagnetic actuator according to the technical solution of the present invention. The stator mainly includes: a stator frame 1, an outer magnetic yoke 2, an outer magnetic ring 3, an outer upper magnetic ring 4A, an outer lower magnetic ring 4B, an outer upper magnetic ring Yoke 5, outer lock nut 6, inner magnetic yoke 7, inner magnetic ring 8, inner upper magnetic ring 9A, inner lower magnetic ring 9B, inner upper magnetic yoke 10, inner lock nut 11 and end magnetic yoke 12; The magnetic yoke 2 is located on the radially inner side of the outer wall of the groove of the stator frame 1 , the outer magnetic ring 3 is located at the radial inner center of the outer magnetic yoke 2 , and the outer upper magnetic ring 4A is located on the outer magnetic yoke 2 and the outer magnetic ring 3 The outer lower magnetic ring 4B is located at the axial lower end of the outer magnetic yoke 2 and the outer magnetic ring 3, the outer upper magnetic yoke 5 is located at the axial upper end of the outer upper magnetic ring 4A, and the outer lock nut 6 is located at the axial upper end of the outer upper yoke 5, the inner yoke 7 is located on the radial outer side of the inner wall of the groove of the stator frame 1, the inner magnetic ring 8 is located on the radial outer side of the inner yoke 7, and the inner The magnetic ring 9A is located at the axial upper end of the inner magnetic yoke 7 and the inner magnetic ring 8, the inner lower magnetic ring 9B is located at the axial lower end of the inner magnetic yoke 7 and the inner magnetic ring 8, and the inner upper magnetic yoke 10 is located at the inner upper magnetic ring. 9A, the inner lock nut 11 is located at the axial upper end of the inner upper magnetic yoke 10, the end yoke 12 is located at the axial lower end of the outer lower magnetic ring 4B and the inner lower magnetic ring 9B, the outer The magnetic yoke 2 , the outer magnetic ring 3 , the outer upper magnetic ring 4A, the outer lower magnetic ring 4B and the outer upper magnetic yoke 5 are fixedly installed on the stator frame 1 through the thread between the outer lock nut 6 and the stator frame 1 . The magnetic yoke 7 , the inner magnetic ring 8 , the inner upper magnetic ring 9A, the inner lower magnetic ring 9B, the inner upper magnetic yoke 10 and the end magnetic yoke 12 are fixedly installed on the stator frame through the thread between the inner lock nut 11 and the stator frame 1 In the annular groove of An air gap is formed between the radially outer walls of the inner magnetic ring 8 , the inner upper magnetic ring 9A, the inner lower magnetic ring 9B, the inner upper magnetic yoke 10 and the inner lock nut 11 .

The outer yoke 2, the outer upper yoke 5, the inner yoke 7, the inner upper yoke 10 and the end yoke 12 are made of soft magnetic alloy 1J50 material, the stator frame 1, the outer lock nut 6 and the inner lock The mother 11 is a superhard aluminum alloy 7A09 material. The outer magnetic ring 3, the outer upper magnetic ring 4A, the outer lower magnetic ring 4B, the inner magnetic ring 8, the inner upper magnetic ring 9A and the inner lower magnetic ring 9B are all hard magnetic materials of cobalt alloy, and the outer magnetic ring 3 And the inner magnetic ring 8 is radially magnetized, the outer upper magnetic ring 4A, the outer lower magnetic ring 4B, the inner upper magnetic ring 9A and the inner lower magnetic ring 9B are axially magnetized, and the direction of magnetization is: the outer magnetic ring 3 S inner N, outer upper magnetic ring 4A upper S lower N, outer lower magnetic ring 4B upper N lower S, inner magnetic ring 8 outer S inner N, inner upper magnetic ring 9A upper N lower S and inner lower magnetic ring 9B upper S Lower N; the magnetization direction can also be: outer magnetic ring 3 outer N inner S, outer upper magnetic ring 4A upper N lower S, outer lower magnetic ring 4B upper S lower N, inner magnetic ring 8 outer N inner S, inner upper magnetic ring 8 The magnetic ring 9A is up S and N down, and the inner and lower magnetic ring 9B is up N and down S. The width of the outer upper magnetic ring 4A, the outer lower magnetic ring 4B and the outer upper magnetic yoke 5 is the sum of the thicknesses of the outer magnetic yoke 2 and the outer magnetic ring 3, the inner upper magnetic ring 9A, the inner lower magnetic ring 9B and the inner upper magnetic ring The width of the magnetic yoke 10 is the sum of the thicknesses of the inner magnetic yoke 7 and the inner magnetic ring 8 .

3 is a three-dimensional schematic diagram of the mover of the electromagnetic actuator according to the technical solution of the present invention. The mover mainly includes: a coil bobbin 13 and a toroidal coil 14. The coil bobbin 13 is located on the outer magnetic yoke 2, the outer magnetic ring 3, and the outer upper magnetic On the radially inner side of the ring 4A, the outer lower magnetic ring 4B, the outer upper magnetic yoke 5 and the outer lock nut 6, the annular coil 14 surrounds and is fixed in the slot of the coil bobbin 13.

4 is a schematic diagram of the double permanent magnet branch circuit of the electromagnetic actuator of the technical solution of the present invention. The upper permanent magnet branch circuit generated by the present invention is: the upper magnetic flux starts from the N pole of the outer upper magnetic ring 4A, and passes through the outer magnetic ring in turn. The upper half of the yoke 2 reaches the S pole of the outer magnetic ring 3, flows out from the N pole of the outer magnetic ring 3, reaches the S pole of the inner magnetic ring 8 through the air gap, flows out from the N pole of the inner magnetic ring 8, and passes through the inner magnetic ring. The yoke 7 reaches the S pole of the inner upper magnetic ring 9A, flows out from the N pole of the inner upper magnetic ring 9A, and returns to the S pole of the outer upper magnetic ring 4A through the inner upper magnetic yoke 10, the air gap and the outer upper magnetic yoke 5 in turn; The lower permanent magnet branch circuit generated by the present invention is as follows: the lower magnetic flux starts from the N pole of the outer lower magnetic ring 4B, reaches the S pole of the outer magnetic ring 3 through the lower half of the outer magnetic yoke 2, and starts from the N pole of the outer magnetic ring 3. The pole flows out, reaches the S pole of the inner magnetic ring 8 through the air gap, flows out from the N pole of the inner magnetic ring 8, passes through the lower half of the inner magnetic yoke 7 to the S pole of the inner lower magnetic ring 9B, and flows from the inner lower magnetic ring 9B The N pole flows out and returns to the S pole of the outer lower magnetic ring 4B after passing through the end yoke 12 .

5 is a simulation diagram of the magnetic field lines of the left part of the electromagnetic actuator according to the technical solution of the present invention. It can be clearly seen that the magnetic flux forms an upper closed permanent magnet branch circuit and a lower closed permanent magnet branch circuit respectively, which effectively relieves the magnetic yoke The saturation of the magnetic density increases the strength of the air gap magnetic field, and the smoothing of the magnetic field lines in the air gap area can effectively reduce the thrust fluctuation, which verifies the innovation and feasibility of the present invention.

The working principle of the high thrust density electromagnetic actuator for the nanosatellite deployer of the present invention is:

The invention forms upper and lower permanent magnetic branch circuits in the single-layer magnetic pole structure, realizes the shunt of the permanent magnetic flux, thereby effectively alleviating the magnetic saturation in the magnetic yoke and increasing the magnetic field strength of the air gap. An energized coil in the gap generates an amperometric force that drives the release of the nanosatellite.

The principle of generating the upper permanent magnet branch circuit of the present invention is as follows: the upper magnetic flux starts from the N pole of the outer upper magnetic ring 4A, passes through the upper half of the outer magnetic yoke 2 to the S pole of the outer magnetic ring 3 in turn, and starts from the N pole of the outer magnetic ring 3. The N pole flows out, reaches the S pole of the inner magnetic ring 8 through the air gap, flows out from the N pole of the inner magnetic ring 8, passes through the inner magnetic yoke 7 to the S pole of the inner upper magnetic ring 9A, and flows from the N pole of the inner upper magnetic ring 9A It flows out and returns to the S pole of the outer upper magnetic ring 4A through the inner upper magnetic yoke 10 , the air gap and the outer upper magnetic yoke 5 in sequence.

The generation principle of the lower permanent magnet branch circuit of the present invention is as follows: the lower magnetic flux starts from the N pole of the outer lower magnetic ring 4B, passes through the lower half of the outer magnetic yoke 2 to the S pole of the outer magnetic ring 3, and reaches the S pole of the outer magnetic ring 3 from the N pole of the outer magnetic ring 3. The pole flows out, reaches the S pole of the inner magnetic ring 8 through the air gap, flows out from the N pole of the inner magnetic ring 8, passes through the lower half of the inner magnetic yoke 7 to the S pole of the inner lower magnetic ring 9B, and flows from the inner lower magnetic ring 9B The N pole flows out and returns to the S pole of the outer lower magnetic ring 4B after passing through the end yoke 12 .

The specific embodiments described above further describe the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above descriptions are only specific embodiments of the present invention, and are not intended to limit the present invention, and may also be a reasonable combination of the features recorded in the above-mentioned various embodiments, all within the spirit and principle of the present invention, Any modification, equivalent replacement, improvement, etc. made should be included within the protection scope of the present invention.

Claims (4)

1. A high-thrust-density electromagnetic actuator for a nano-satellite deployer is characterized by comprising a stator and a rotor, wherein the stator comprises a stator frame (1), an outer yoke (2), an outer magnetic ring (3), an outer upper magnetic ring (4A), an outer lower magnetic ring (4B), an outer upper magnetic yoke (5), an outer lock nut (6), an inner yoke (7), an inner magnetic ring (8), an inner upper magnetic ring (9A), an inner lower magnetic ring (9B), an inner upper magnetic yoke (10), an inner lock nut (11) and an end magnetic yoke (12); the rotor comprises a coil framework (13) and an annular coil (14);

the outer magnet yoke (2) is located on the radial inner side of the outer wall of the groove of the stator frame (1), the outer magnet ring (3) is located on the radial inner center position of the outer magnet yoke (2), the outer upper magnet ring (4A) is located at the upper ends of the outer magnet yoke (2) and the outer magnet ring (3), the outer lower magnet ring (4B) is located at the lower ends of the outer magnet yoke (2) and the outer magnet ring (3), the outer upper magnet yoke (5) is located at the upper end of the outer upper magnet ring (4A), the outer lock nut (6) is located at the upper end of the outer upper magnet yoke (5), the inner magnet yoke (7) is located on the radial outer side of the inner wall of the groove of the stator frame (1), the inner magnet ring (8) is located on the radial outer side of the inner magnet yoke (7), the inner upper magnet ring (9A) is located at the upper ends of the inner magnet yoke (7) and the inner magnet ring (8), and the inner lower magnet ring (9B) is located at the lower ends of the inner magnet yoke (7) and the inner magnet ring (8), the inner upper magnetic yoke (10) is positioned at the upper end of the inner upper magnetic ring (9A), the inner lock nut (11) is positioned at the upper end of the inner upper magnetic yoke (10), the end magnetic yoke (12) is positioned at the lower ends of the outer lower magnetic ring (4B) and the inner lower magnetic ring (9B), the outer magnetic yoke (2), the outer magnetic ring (3), the outer upper magnetic ring (4A), the outer lower magnetic ring (4B) and the outer upper magnetic yoke (5) are fixedly arranged on the stator frame (1) through threads between the outer lock nut (6) and the stator frame (1), the inner magnetic yoke (7), the inner magnetic ring (8), the inner upper magnetic ring (9A), the inner lower magnetic ring (9B), the inner upper magnetic yoke (10) and the end magnetic yoke (12) are fixedly arranged in an annular groove of the stator frame (1) through threads between the inner lock nut (11) and the stator frame (1), the outer magnetic yoke (2), the outer magnetic ring (3), the outer upper magnetic ring (4A) and the outer lower magnetic ring (9A), An air gap is formed between the radial inner wall of the outer lower magnetic ring (4B), the outer upper magnetic yoke (5), the outer lock nut (6) and the radial outer wall of the inner magnetic yoke (7), the inner magnetic ring (8), the inner upper magnetic ring (9A), the inner lower magnetic ring (9B), the inner upper magnetic yoke (10) and the inner lock nut (11), the coil framework (13) is positioned at the radial inner side of the outer magnetic yoke (2), the outer magnetic ring (3), the outer upper magnetic ring (4A), the outer lower magnetic ring (4B), the outer upper magnetic yoke (5) and the outer lock nut (6), and the annular coil (14) is surrounded and fixed in a groove of the coil framework (13);

the widths of the outer upper magnetic ring (4A), the outer lower magnetic ring (4B) and the outer upper magnetic yoke (5) are the sum of the thicknesses of the outer magnetic yoke (2) and the outer magnetic ring (3), and the widths of the inner upper magnetic ring (9A), the inner lower magnetic ring (9B) and the inner upper magnetic yoke (10) are the sum of the thicknesses of the inner magnetic yoke (7) and the inner magnetic ring (8).

2. The high thrust density electromagnetic actuator for a nanostar deployer of claim 1, wherein the outer magnetic ring (3), the outer upper magnetic ring (4A), the outer lower magnetic ring (4B), the inner magnetic ring (8), the inner upper magnetic ring (9A), and the inner lower magnetic ring (9B) are all cobalt alloy hard magnetic materials, wherein the outer magnetic ring (3) and the inner magnetic ring (8) are magnetized radially, the outer upper magnetic ring (4A), the outer lower magnetic ring (4B), the inner upper magnetic ring (9A), and the inner lower magnetic ring (9B) are magnetized axially, and the magnetization directions are S in the outer S inner N of the outer magnetic ring (3), the outer upper S lower N of the outer upper magnetic ring (4A), the outer N lower S of the outer lower magnetic ring (4B), the outer S inner N of the inner upper magnetic ring (8), the inner upper N lower S of the inner upper magnetic ring (9A), and the inner lower S of the inner lower magnetic ring (9B).

3. The high thrust density electromagnetic actuator for a nanostar deployer of claim 1, wherein the outer magnetic ring (3), the outer upper magnetic ring (4A), the outer lower magnetic ring (4B), the inner magnetic ring (8), the inner upper magnetic ring (9A) and the inner lower magnetic ring (9B) are all cobalt-coated hard magnetic material, wherein the outer magnetic ring (3) and the inner magnetic ring (8) are radially magnetized, the outer upper magnetic ring (4A), the outer lower magnetic ring (4B), the inner upper magnetic ring (9A) and the inner lower magnetic ring (9B) are axially magnetized, and the magnetization directions are N inner S outside the outer magnetic ring (3), N lower S above the outer upper magnetic ring (4A), S lower N above the outer lower magnetic ring (4B), N inner S outside the inner magnetic ring (8), S lower N above the inner upper magnetic ring (9A) and S above the inner lower magnetic ring (9B).

4. The high thrust density electromagnetic actuator for a nanostar deployer of claim 1, wherein the outer yoke (2), the outer upper yoke (5), the inner yoke (7), the inner upper yoke (10) and the end yoke (12) are soft magnetic alloy 1J50 material.

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